Siemens SIMATIC S7 System Manual page 668

Open loop motion control
12.10 Advanced topics
Table 12- 43 Profile detail for Mode 1 (Relative position)
Byte offset
from start of
(4 * n) + 2
($ * N) + 6
Table 12- 44 Profile detail for Mode 2 (Single-speed, continuous positive rotation) and Mode 3 (Single-
Byte offset
from start of
Table 12- 45 Profile detail for Mode 6 (Single-speed, continuous positive rotation with triggered stop)
Byte offset
from start of
668
Step
number
profile
+0
+1
+2 0
+6
●
●
●
n
speed, continuous negative rotation)
Step
number
profile
+0
+1
+2 0
+6
and Mode 7 (Single-speed, continuous negative rotation with triggered stop)
Step
number
profile
+0
+1
+2 0
+6
Name Field size
STEPS byte
MODE byte
POS dint/fp
SPEED dint/fp
POS dint/fp
SPEED dint/fp
Name Field size
STEPS byte
MODE byte
POS dint/fp
SPEED dint/fp
Name Field size
STEPS byte
MODE byte
POS dint/fp
SPEED dint/fp
System Manual, V2.3, 07/2017, A5E03822230-AF
Value
n = Number of steps configured in this
profile
0 = Relative position
Distance to travel in step 0
Target speed for step 0
Distance to travel in step n
Target speed for step n
Value
1
2= Single-speed, continuous positive
rotation or
3 = Single-speed, continuous negative
rotation
n.a. (must be set to 0)
Target speed
Value
1
6 = Single-speed, continuous positive
rotation with triggered stop or
7 = Single-speed, continuous negative
rotation with triggered stop
Distance to travel after activation of RPS
signal (value must be positive)
Target speed
S7-200 SMART