Siemens SIMATIC S7-300 Manual page 198

Description of Functions
9.2.4 Incremental relative
Overview
In the Incremental Relative mode it is possible to execute single positionings
over relative distances using user-definable increments.
The traversing movement is triggered with the direction keys (R+ and R–).
Defining the The options available for defining the increment with the mode parameter
position are:
Velocity level 1 job no. 1 (see Section 9.2.1) is used as the velocity setpoint
and can be modified during the movement.
It is not possible to change position on-the-fly (e.g. changing the position
setpoint during a movement).
Handling by the The table below gives you an overview of how to handle this mode.
user
Triggering of move-
Position setting
Increment
MSR stands for measurement system raster (see Section 5.3.1)
Note the following when interrupting a movement with "Stop":
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Via the user program,
by defining the position for the increment job no. 3
Using the increment table; see Section 5.3.2
Increment selection
ment, Direction (R)
R+ or R–
Name Lower input limit
0
To continue movement in the same direction - the residual distance is pro-
cessed with the appropriate direction key.
To continue movement with "delete residual distance" (job no. 11) the
residual distance is deleted and the increment is traversed agai (provided
the increment was not changed).
To position in the opposite direction - the residual distance is deleted au-
tomatically.
Distance to be traveled
BP = 254 in accordance with setpoint
for increment (job no. 3)
BP = 1...100 as in SM table (DB-SM)
Upper input limit
1 000 000 000
FM 354 Servo Drive Positioning Module
Position,
Unit
MSR