IEC 61131-3-2013.pdf
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CONTENTS
FOREWORD........................................................................................................................... 7
1 Scope............................................................................................................................... 9
2 Normative references ....................................................................................................... 9
3 Terms and definitions ....................................................................................................... 9
4 Architectural models .......................................................................................................18
4.1 Software model .....................................................................................................18
4.2 Communication model ...........................................................................................19
4.3 Programming model ..............................................................................................20
5 Compliance ....................................................................................................................22
5.1 General .................................................................................................................22
5.2 Feature tables .......................................................................................................22
5.3 Implementer’s compliance statement .....................................................................22
6 Common elements..........................................................................................................24
6.1 Use of printed characters ......................................................................................24
6.1.1 Character set.............................................................................................24
6.1.2 Identifiers ..................................................................................................24
6.1.3 Keywords ..................................................................................................24
6.1.4 Use of white space ....................................................................................25
6.1.5 Comments ................................................................................................. 25
6.2 Pragma .................................................................................................................26
6.3 Literals – External representation of data ..............................................................26
6.3.1 General .....................................................................................................26
6.3.2 Numeric literals and string literals..............................................................26
6.3.3 Character string literals .............................................................................28
6.3.4 Duration literal ...........................................................................................29
6.3.5 Date and time of day literal ........................................................................30
6.4 Data types .............................................................................................................30
6.4.1 General .....................................................................................................30
6.4.2 Elementary data types (BOOL, INT, REAL, STRING, etc.)...........................30
6.4.3 Generic data types ....................................................................................33
6.4.4 User-defined data types.............................................................................34
6.5 Variables ...............................................................................................................47
6.5.1 Declaration and initialization of variables ...................................................47
6.5.2 Variable sections .......................................................................................49
6.5.3 Variable length ARRAY variables ................................................................51
6.5.4 Constant variables.....................................................................................53
6.5.5 Directly represented variables ( % ) ...........................................................54
6.5.6 Retentive variables (RETAIN, NON_RETAIN) ..............................................56
6.6 Program organization units (POUs) .......................................................................58
6.6.1 Common features for POUs .......................................................................58
6.6.2 Functions...................................................................................................70
6.6.3 Function blocks .........................................................................................99
6.6.4 Programs ................................................................................................. 117
6.6.5 Classes ................................................................................................... 118
61131-3 © IEC:2013 – 3 –
6.6.6 Interface .................................................................................................. 137
6.6.7 Object oriented features for function blocks ............................................. 146
6.6.8 Polymorphism.......................................................................................... 152
6.7 Sequential Function Chart (SFC) elements .......................................................... 155
6.7.1 General ................................................................................................... 155
6.7.2 Steps....................................................................................................... 155
6.7.3 Transitions .............................................................................................. 157
6.7.4 Actions .................................................................................................... 160
6.7.5 Rules of evolution.................................................................................... 168
6.8 Configuration elements........................................................................................ 176
6.8.1 General ................................................................................................... 176
6.8.2 Tasks ...................................................................................................... 180
6.9 Namespaces ....................................................................................................... 186
6.9.1 General ................................................................................................... 186
6.9.2 Declaration .............................................................................................. 186
6.9.3 Usage...................................................................................................... 192
6.9.4 Namespace directive USING .................................................................... 192
7 Textual languages ........................................................................................................ 195
7.1 Common elements............................................................................................... 195
7.2 Instruction list (IL) ............................................................................................... 195
7.2.1 General ................................................................................................... 195
7.2.2 Instructions.............................................................................................. 195
7.2.3 Operators, modifiers and operands .......................................................... 196
7.2.4 Functions and function blocks.................................................................. 198
7.3 Structured Text (ST)............................................................................................ 201
7.3.1 General ................................................................................................... 201
7.3.2 Expressions............................................................................................. 201
7.3.3 Statements .............................................................................................. 203
8 Graphic languages ....................................................................................................... 208
8.1 Common elements............................................................................................... 208
8.1.1 General ................................................................................................... 208
8.1.2 Representation of variables and instances............................................... 209
8.1.3 Representation of lines and blocks .......................................................... 211
8.1.4 Direction of flow in networks .................................................................... 212
8.1.5 Evaluation of networks ............................................................................ 213
8.1.6 Execution control elements...................................................................... 214
8.2 Ladder diagram (LD) ........................................................................................... 215
8.2.1 General ................................................................................................... 215
8.2.2 Power rails .............................................................................................. 216
8.2.3 Link elements and states ......................................................................... 216
8.2.4 Contacts .................................................................................................. 216
8.2.5 Coils ........................................................................................................ 218
8.2.6 Functions and function blocks.................................................................. 219
8.2.7 Order of network evaluation..................................................................... 219
8.3 Function Block Diagram (FBD) ............................................................................ 219
8.3.1 General ................................................................................................... 219
8.3.2 Combination of elements ......................................................................... 219
8.3.3 Order of network evaluation..................................................................... 220
Annex A (normative) Formal specification of the languages elements ................................ 221
– 4 – 61131-3 © IEC:2013
Annex B (informative) List of major changes and extensions of the third edition.................228
Bibliography........................................................................................................................ 229
Figure 1 – Software model ....................................................................................................18
Figure 2 – Communication model..........................................................................................20
Figure 3 – Combination of programmable controller language elements ................................21
Figure 4 – Implementer’s compliance statement (Example)...................................................23
Figure 5 – Hierarchy of the generic data types ......................................................................34
Figure 6 – Initialization by literals and constant expressions (Rules) .....................................35
Figure 7 – Variable declaration keywords (Summary)............................................................50
Figure 8 – Usage of VAR_GLOBAL, VAR_EXTERNAL and CONSTANT (Rules).........................51
Figure 9 – Conditions for the initial value of a variable (Rules)..............................................57
Figure 10 – Formal and non-formal representation of call (Examples) ...................................63
Figure 11 – Data type conversion rules – implicit and/or explicit (Summary) .........................67
Figure 12 – Supported implicit type conversions ...................................................................68
Figure 13 – Usage of function block input and output parameters (Rules) ...........................108
Figure 14 – Usage of function block input and output parameters (Illustration of rules) ......109
Figure 15 – Standard timer function blocks – timing diagrams (Rules) ................................ 116
Figure 16 – Overview of inheritance and interface implementation ...................................... 119
Figure 17 – Inheritance of classes (Illustration)................................................................... 128
Figure 18 – Interface with derived classes (Illustration)....................................................... 138
Figure 19 – Inheritance of interface and class (Illustration) ................................................. 143
Figure 20 – Function block with optional body and methods (Illustration) ............................149
Figure 21 – Inheritance of function block body with SUPER() (Example)............................. 151
Figure 22 – ACTION_CONTROL function block – External interface (Summary)....................165
Figure 23 – ACTION_CONTROL function block body (Summary)........................................... 166
Figure 24 – Action control (Example) .................................................................................. 168
Figure 25 – SFC evolution (Rules) ...................................................................................... 174
Figure 26 – SFC errors (Example) ...................................................................................... 175
Figure 27 – Configuration (Example)................................................................................... 177
Figure 28 – CONFIGURATION and RESOURCE declaration (Example) .................................. 180
Figure 29 – Accessibility using namespaces (Rules) ........................................................... 189
Figure 30 – Common textual elements (Summary) .............................................................. 195
Table 1 – Character set ........................................................................................................24
Table 2 – Identifiers ..............................................................................................................24
Table 3 – Comments .............................................................................................................25
Table 4 – Pragma .................................................................................................................26
Table 5 – Numeric literals .....................................................................................................27
Table 6 – Character string literals .........................................................................................28
Table 7 – Two-character combinations in character strings ...................................................29
Table 8 – Duration literals .....................................................................................................29
Table 9 – Date and time of day literals ..................................................................................30
61131-3 © IEC:2013 – 5 –
Table 10 – Elementary data types .........................................................................................31
Table 11 – Declaration of user-defined data types and initialization ......................................35
Table 12 – Reference operations ..........................................................................................46
Table 13 – Declaration of variables .......................................................................................48
Table 14 – Initialization of variables ......................................................................................49
Table 15 – Variable-length ARRAY variables..........................................................................52
Table 16 – Directly represented variables .............................................................................54
Table 17 – Partial access of ANY_BIT variables ...................................................................60
Table 18 – Execution control graphically using EN and ENO ..................................................65
Table 19 – Function declaration ............................................................................................72
Table 20 – Function call........................................................................................................74
Table 21 – Typed and overloaded functions ..........................................................................76
Table 22 – Data type conversion function .............................................................................78
Table 23 – Data type conversion of numeric data types ........................................................80
Table 24 – Data type conversion of bit data types ................................................................. 82
Table 25 – Data type conversion of bit and numeric types.....................................................83
Table 26 – Data type conversion of date and time types .......................................................85
Table 27 – Data type conversion of character types ..............................................................86
Table 28 – Numerical and arithmetic functions ......................................................................87
Table 29 – Arithmetic functions .............................................................................................88
Table 30 – Bit shift functions................................................................................................. 89
Table 31 – Bitwise Boolean functions....................................................................................89
Table 32 – Selection functions d
............................................................................................90
Table 33 – Comparison functions ..........................................................................................91
Table 34 – Character string functions....................................................................................92
Table 35 – Numerical functions of time and duration data types ............................................93
Table 36 – Additional functions of time data types CONCAT and SPLIT ................................. 94
Table 37 – Function for endianess conversion ......................................................................98
Table 38 – Functions of enumerated data types ....................................................................98
Table 39 – Validate functions ................................................................................................99
Table 40 – Function block type declaration ......................................................................... 100
Table 41 – Function block instance declaration ................................................................... 104
Table 42 – Function block call............................................................................................. 105
Table 43 – Standard bistable function blocksa
..................................................................... 112
Table 44 – Standard edge detection function blocks ........................................................... 113
Table 45 – Standard counter function blocks....................................................................... 113
Table 46 – Standard timer function blocks .......................................................................... 115
Table 47 – Program declaration .......................................................................................... 117
Table 48 – Class................................................................................................................. 120
Table 49 – Class instance declaration................................................................................. 122
Table 50 – Textual call of methods – Formal and non-formal parameter list ........................125
Table 51 – Interface............................................................................................................ 137
Table 52 – Assignment attempt........................................................................................... 146
– 6 – 61131-3 © IEC:2013
Table 53 – Object oriented function block ........................................................................... 147
Table 54 – SFC step ........................................................................................................... 156
Table 55 – SFC transition and transition condition .............................................................. 158
Table 56 – SFC declaration of actions ................................................................................ 160
Table 57 – Step/action association ..................................................................................... 162
Table 58 – Action block....................................................................................................... 163
Table 59 – Action qualifiers................................................................................................. 163
Table 60 – Action control features....................................................................................... 168
Table 61 – Sequence evolution – graphical......................................................................... 169
Table 62 – Configuration and resource declaration ............................................................. 178
Table 63 – Task .................................................................................................................. 182
Table 64 – Namespace ....................................................................................................... 191
Table 65 – Nested namespace declaration options ............................................................. 192
Table 66 – Namespace directive USING.............................................................................. 194
Table 67 – Parenthesized expression for IL language ......................................................... 197
Table 68 – Instruction list operators .................................................................................... 197
Table 69 – Calls for IL language ......................................................................................... 199
Table 70 – Standard function block operators for IL language ............................................. 201
Table 71 – Operators of the ST language............................................................................ 202
Table 72 – ST language statements .................................................................................... 203
Table 73 – Graphic execution control elements ................................................................... 215
Table 74 – Power rails and link elements ............................................................................ 216
Table 75 – Contacts............................................................................................................ 217
Table 76 – Coils.................................................................................................................. 218
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