Siemens Simatic S7-200 System Manual page 273

POSx_RUN Instruction
The POSx_RUN instruction (Run Profile) commands the Position
module to execute the motion operation in a specific profile stored in
the configuration/profile table.
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 RUN 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 RUN 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 Profile parameter contains the number or the symbolic name for
the motion profile. You can also select the advanced motion
commands (118 to 127). For information about the motion
commands, see Table 9-19 on page 284.
Turning on the Abort parameter commands to the Position module
to stop the current profile and decelerate until the motor comes to a
stop.
The Done parameter turns on when the 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_Profile parameter contains the profile currently being executed by the Position module.
The C_Step parameter contains the step of the profile currently being executed.
The C_Pos parameter contains the 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 9-5 Parameters for the POSx_RUN Instruction
Inputs/Outputs
START
Profile
Abort, Done
Error, C_Profile, C_Step
C_Pos, C_Speed
Creating a Program for the Position Module
Data Type Operands
BOOL I, Q, V, M, SM, S, T, C, L, Power Flow
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
Chapter 9
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