Allen-Bradley Studio 5000 Logix Emulate User Manual

Chapter 11
Overview of Structured Text Programming
638 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Assign an ASCII character to a string data member
Use the assignment operator to assign an ASCII character to an element of the
DATA member of a string tag. To assign a character, specify the value of the
character or specify the tag name, DATA member, and element of the character.
For example:
This is OK This is not OK
string1.DATA[0] := 65; string1.DATA[0] := A;
string1.DATA[0]:= string2.DATA[0]; string1 := string2;
Tip: This assigns all content of string2 to string1
instead of just one character.
To add or insert a string of characters to a string tag, use either of these ASCII
string instructions:
To Use this instruction
Add characters to the end of a string CONCAT
Insert characters into a string INSERT
See also
Structured Text Components: Expressions on page 638
Character string literals on page 646
An expression is a tag name, equation, or comparison. To write an expression, use
any of the following:
• Tag name that stores the value (variable)
• Number that you enter directly into the expression (immediate value)
• String literal that you enter directly into the expression (CompactLogix
5380, CompactLogix 5480, ControlLogix 5580, Compact GuardLogix
5380, and GuardLogix 5580 controllers only)
• Functions, such as: ABS, TRUNC
• Operators, such as: +, -, <, >, And, Or
As you write expressions, follow these general rules:
• Use any combination of upper-case and lower-case letter. For example, these
three variations of "AND" are acceptable: AND, And, and.
• For more complex requirements, use parentheses to group expressions
within expressions. This makes the whole expression easier to read and
Structured Text
Components: Expressions

Allen-Bradley Studio 5000 Logix Emulate Specifications

General

Type	Emulation Software
Supported Platforms	PC
Operating System	Windows
Compatible Controllers	ControlLogix 5570, ControlLogix 5580, CompactLogix 5370, CompactLogix 5480
Integration	Integrated with Studio 5000 environment
Works with Studio 5000 Logix Designer	Yes
Programming Languages	Ladder Logic, Function Block Diagram, Structured Text, Sequential Function Chart
Communication Protocols	EtherNet/IP
Functionality	Controller Emulation
Purpose	Testing and Debugging
Use Case	Program development, testing, training, and troubleshooting without physical PLC hardware

Summary

LOGIX 5000 Controllers Motion Instructions

Motion State Instructions

Motion Axis Fault Reset (MAFR)

Use the Motion Axis Fault Reset (MAFR) instruction to clear all motion faults for an axis. This is the only method for clearing axis motion faults.

Motion Axis Shutdown (MASD)

Use the Motion Axis Shutdown (MASD) instruction to force a specified axis into the Shutdown state.

Motion Axis Shutdown Reset (MASR)

Use the Motion Axis Shutdown (MASR) instruction to transition a group of axes from the shutdown operating state to the axis ready operating state.

Motion Move Instructions

Motion Axis Stop (MAS)

Use the Motion Axis Stop (MAS) instruction to stop a specific motion process on an axis or to stop the axis completely.

Motion Axis Home (MAH)

Use the Motion Axis Home (MAH) instruction to home an axis. Two different homing modes can be selected during axis configuration: Active or Passive.

Motion Axis Jog (MAJ)

Use the Motion Axis Jog (MAJ) instruction to move an axis at a constant speed until you tell it to stop.

Motion Axis Move (MAM)

Use the Motion Axis Move (MAM) instruction to move an axis to a specified position.

Motion Axis Gear (MAG)

Motion Change Dynamics (MCD)

Use the Motion Change Dynamics (MCD) instruction to selectively change the speed, acceleration rate, or deceleration rate of a move profile or a jog profile in process.

Motion Redefine Position (MRP)

Motion Calculate Cam Profile (MCCP)

The Motion Calculate Cam Profile (MCCP) instruction calculates a cam profile based on an array of cam points.

Motion Calculate Slave Values (MCSV)

Motion Axis Position Cam (MAPC)

The Motion Axis Position Cam (MAPC) instruction provides electronic camming between any two axes according to the specified Cam Profile.

Motion Axis Time Cam (MATC)

The Motion Axis Time Cam (MATC) instruction provides electronic camming of an axis as a function of time, according to the specified Cam Profile.

Motion Group Instructions

Motion Group Stop (MGS)

The Motion Group Stop (MGS) instruction initiates a stop of all motion in progress on all axes in the specified group by a method configured individually for each axis or as a group via the Stop Mode of the MGS instruction.

Motion Group Shutdown (MGSD)

Use the Motion Group Shutdown (MGSD) instruction to force all axes in the designated group into a Shutdown state.

Motion Group Shutdown Reset (MGSR)

Use the Motion Group Shutdown Reset (MGSR) instruction to transition a group of axes from the shutdown operating state to the axis ready operating state.

Motion Event Instructions

Motion Arm Watch (MAW)

Motion Arm Registration (MAR)

Motion Arm Output Cam (MAOC)

Motion Configuration Instructions

Motion Apply Axis Tuning (MAAT)

Motion Run Axis Tuning (MRAT)

Motion Apply Hookup Diagnostics (MAHD)

Motion Run Hookup Diagnostics (MRHD)

Multi-Axis Coordinated Motion Instructions

Motion Coordinated Linear Move (MCLM)

Use the MCLM instruction to start a single or multi-dimensional linear coordinated move for the specified axes within a Cartesian coordinate system.

Motion Coordinated Circular Move (MCCM)

Use the MCCM instruction to initiate a two or three-dimensional circular coordinated move for the specified axes within a Cartesian coordinate system.

Motion Coordinated Change Dynamics (MCCD)

Motion Coordinated Shutdown (MCSD)

Motion Coordinated Shutdown Reset (MCSR)

Motion Coordinated Stop (MCS)

Motion Coordinated Transform (MCT)

Motion Calculate Transform Position (MCTP)

Motion Coordinated Path Move (MCPM)

Motion Coordinated Transform with Orientation (MCTO)

Motion Error Codes, faults, and attributes

Handle Motion Faults

Understand Motion Status and Configuration Parameters

Troubleshoot Axis Motion

Overview of motion-related data types

CAM Structure

CAM_PROFILE Structure

Overview of Structured Text Programming

Structured Text Syntax

Common attributes for Motion instructions