Siemens SIMATIC S7-200 System Manual page 295

POSx_SRATE Instruction
The POSx_SRATE instruction (Set Rate) commands the
Position module to change the acceleration, deceleration,
and jerk times.
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 copies the new time
values to the configuration/profile table and sends a SRATE
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 SRATE command to
the Position module. To ensure that only one command is
sent, use an edge detection element to pulse the START
parameter on.
The ACCEL_Time, DECEL_Time, and JERK_Time
parameters determine the new acceleration time,
deceleration time, and jerk time in milliseconds (ms).
The Done parameter turns on when the module completes
this instruction.
The Error parameter contains the result of this instruction.
See Table 9-20 for definitions of the error codes.
Table 9-16 Parameters for the POSx_SRATE Instruction
Inputs/Outputs
START
ACCEL_Time, DECEL_Time,
JERK_Time
Done
Error
Open Loop Motion Control with the S7-200
Data Type Operands
BOOL I, Q, V, M, SM, S, T, C, L
DINT ID, QD, VD, MD, SMD, SD, LD, 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
Chapter 9
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