Siemens SIMATIC S7 System Manual page 602

Open loop motion control
12.2 Using motion control
Selecting the mode of operation for the profile
You configure the profile according to the mode of operation desired. The Axis of Motion
supports absolute position, relative position, single-speed continuous rotation, and two-
speed continuous rotation. The following figure shows the different modes of operation.
Mode selections for the Axis of Motion
Absolute Position
Single-speed, Continuous Rotation, with triggered
stop
Two-Speed, Continuous Rotation
602
Single-Speed, Continuous Rotation
Relative Position
System Manual, V2.3, 07/2017, A5E03822230-AF
S7-200 SMART