Axisx_Rseek Subroutine - Siemens SIMATIC S7 System Manual

The Profile parameter contains the number or the symbolic name for the motion profile. The
"Profile" input must be between 0 - 31. If not, the subroutine will return an error.
Turn on the Abort parameter to command the Axis of Motion to stop the current profile and
decelerate until the motor comes to a stop.
The Done parameter turns on when the Axis of Motion completes this subroutine.
The Error parameter (Page 659) contains the result of this subroutine.
The C_Profile parameter contains the profile currently being executed by the Axis of Motion.
The C_Step parameter contains the step of the profile currently being executed.
The C_Pos parameter contains the current position of the Axis of Motion. Based upon the
units of measurement, the value is either a number of pulses (DINT) or the number of
engineering units (REAL).
The C_Speed parameter contains the current speed of the Axis of Motion. Based upon the
units of measurement, the value is either a number of pulses/second (DINT) or the
engineering units/second (REAL).
12.6.6

AXISx_RSEEK subroutine

Table 12- 14 AXISx_RSEEK
LAD / FBD STL
CALL AXISx_RSEEK,
START, Done, Error
Table 12- 15 Parameters for the AXISx_RSEEK subroutine
Inputs/Outputs
START
Done
Error
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_RSEEK subroutine (Seek Reference Point Position) initi-
ates a reference point seek operation, using the search method in the
configuration/profile table. When the Axis of Motion locates the refer-
ence point and motion has stopped, the Axis of Motion loads the
RP_OFFSET parameter value into the current position.
Data type Operands
BOOL I, Q, V, M, SM, S, T, C, L, Power Flow
BOOL I, Q, V, M, SM, S, T, C, L
BYTE IB, QB, VB, MB, SMB, SB, LB, AC, *VD, *AC, *LD
Open loop motion control
627