Siemens SIMATIC S7-200 System Manual page 301

Sample Program 2: Program with POSx_CTRL, POSx_RUN, POSx_SEEK, and POSx_MAN, continued
Open Loop Motion Control with the S7-200
Network 4 //Emergency Stop
//Disable the module and auto mode
LD I0.1
R M0.0, 1
R S0.1, 9
R Q0.3, 3
Network 5 //When in auto mode:
//Turn on the Running light
LD M0.0
= Q0.1
Network 6
LSCR S0.1
Network 7 //Find the reference point (RP)
LD S0.1
= L60.0
LD S0.1
= L63.7
LD L60.0
CALL POS0_RSEEK, L63.7, M1.1, VB930
Network 8 //When at reference point (RP):
//Clamp the material and
//Go to the next step.
LD M1.1
LPS
AB= VB930, 0
S Q0.3, 1
SCRT S0.2
LPP
AB<> VB930, 0
SCRT S1.0
Network 9
SCRE
Network 10
LSCR S0.2
Chapter 9
287