Siemens SIMATIC S7-200 System Manual page 290

S7-200 Programmable Controller System Manual
POSx_GOTO Instruction
The POSx_GOTO instruction commands the Position
Module to go to a desired location.
Turning on the EN bit enables the instruction. Ensure that
the EN bit stays on until the DONE bit signals that the
execution of the instruction has completed.
Turning on the START parameter sends a GOTO command
to the Position module. For each scan when the START
parameter is on and the Position module is not currently
busy, the instruction sends a GOTO command to the
Position module. 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 of 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 of 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 Position module completes this instruction.
Turning on the Abort parameter commands the Position module to stop the current profile and
decelerate until the motor comes to a stop.
The Error parameter contains the result of this instruction. See Table 9-20 for definitions of the
error codes.
The C_Pos parameter contains current position of the module. Based of 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 module. Based of the units of
measurement, the value is either a number of pulses/second (DINT) or the engineering
units/second (REAL).
Table 9-11 Parameters for the POSx_GOTO Instruction
Inputs/Outputs
START
Pos, Speed
Mode
Abort, Done
Error
C_Pos, C_Speed
276
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