Siemens Simatic S7-200 System Manual page 272

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
9
3 – Single–speed, continuous negative rotation
The Done parameter turns on when the Position module completes this instruction.
The Error parameter contains the result of this instruction. See Table 9-13 on page 276 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 9-4
Inputs/Outputs
START
Pos, Speed
Mode
Abort, Done
Error
C_Pos, C_Speed
260
Parameters for the POSx_GOTO Instruction
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