Siemens Simatic S7-200 System Manual page 264

S7-200 Programmable Controller System Manual
Configuring the Motion Profiles for the Position Module
A profile is a pre-defined motion description consisting of one or more speeds of movement that effect a
movement from a starting point to an ending point. You do not have to define a profile in order to use the
module. The Position Control wizard provides an instruction subroutine (POSx_GOTO) for you to use to
control moves.
-
Number of profiles: You can select up to a maximum of 25 profiles.
-
Address for the command byte: You must enter the output (Q) memory address of the command
byte for the Position module. See Figure 4-10 on page 31 for a description of the I/O numbering.
-
Address for the configuration/profile table: You must enter the starting memory address for the
configuration/profile table that stores the configuration data for the Position module and the data for
all of the profiles. The configuration data for the Position module requires 92 bytes of V memory,
and each profile requires 34 bytes of V memory. For example, the amount of memory required for
the configuration/profile table for a Position module with one profile is 126 bytes of V memory.
The Position Control wizard can suggest an unused V memory block address of the correct size.
Defining the Motion Profile
The Position Control wizard provides a Motion Profile Definition where you define each motion profile for
your application. For each profile, you select the operating mode and define the specifics of each
individual step for the profile. The Position Control wizard also allows you to define a symbolic name for
each profile by simply entering the symbol name as you define the profile. After you have finished
configuring the profile, you can save to configuration and print a copy of the parameters.
Selecting the Mode of Operation for the Profile
You configure the profile according the the mode of operation, either an absolute position, a relative
position, a single-speed continuous rotation, or a two-speed continuous rotation. Figure 9-12 shows the
9
different modes of operation.
Absolute Position
0
Zero
Position
Relative Position
Starting
Position
Figure 9-12
252
Single-Speed
Continuous Rotation
Controlled by your program until
Starting Ending
another command (such as Abort)
Position Position
is issued
Two-Speed Continuous Rotation
Ending Position
Measured from the
starting point
Mode Selections for the Position Module
Single-Speed Continuous Rotation
with Triggered Stop
Target Speed
Target Speed with Target Speed with
RPS Inactive RPS Active
RPS signals
Reached Stop