Axisx_Goto Subroutine - Siemens SIMATIC S7 System Manual

12.6.4

AXISx_GOTO subroutine

Table 12- 10 AXISx_GOTO
LAD / FBD STL
CALL AXISx_GOTO,
START, Pos, Speed,
Mode, Abort, Done,
Error, C_Pos,
C_Speed
Table 12- 11 Parameters for the AXISx_GOTO subroutine
Inputs/Outputs
START
Pos, Speed
Mode
Abort, Done
Error
C_Pos, C_Speed
Turn on the EN bit to enable the subroutine. Ensure that the EN bit stays on until the DONE
bit signals that the execution of the subroutine has completed.
Turn on the START parameter to send a GOTO command to the Axis of Motion. For each
scan when the START parameter is on and the Axis of Motion is not currently busy, the
subroutine sends a GOTO command to the Axis of Motion. To ensure that only one GOTO
command is sent, use an edge detection element to pulse the START parameter on.
The Pos parameter contains a value that signifies either the location to move (for an
absolute move) or the distance to move (for a relative move). Based upon the units of
measurement selected, the value is either a number of pulses (DINT) or the engineering
units (REAL).
The Speed parameter determines the maximum speed for this movement. Based upon the
units of measurement, the value is either a number of pulses/second (DINT) or the
engineering units/second (REAL).
The Mode parameter selects the type of move:
● 0: Absolute position
● 1: Relative position
● 2: Single-speed, continuous positive rotation
● 3: Single-speed, continuous negative rotation
The Done parameter turns on when the Axis of Motion completes this subroutine.
S7-200 SMART
System Manual, V2.3, 07/2017, A5E03822230-AF
12.6 Subroutines created by the Motion wizard for the Axis of Motion
Description
The AXISx_GOTO subroutine commands the Axis of Motion to go to a
desired location.
Data type Operands
BOOL I, Q, V, M, SM, S, T, C, L, Power Flow
DINT, REAL ID, QD, VD, MD, SMD, SD, LD, AC, *VD, *AC, *LD, Constant
BYTE IB, QB, VB, MB, SMB, SB, LB, AC, *VD, *AC, *LD, Constant
BOOL I, Q, V, M, SM, S, T, C, L
BYTE IB, QB, VB, MB, SMB, SB, LB, AC, *VD, *AC, *LD
DINT, REAL ID, QD, VD, MD, SMD, SD, LD, AC, *VD, *AC, *LD
Open loop motion control
625