Siemens SIMATIC S7-200 System Manual page 271

Configuring the Motion Profiles
A profile is a pre-defined motion description consisting of one or more speeds of movement that
effect a change in position from a starting point to an ending point. You do not have to define a
profile in order to use the PTO or the module. The Position Control wizard provides instructions for
you to use to control moves without running a profile.
A profile is programmed in steps consisting of an acceleration/deceleration to a target speed
followed by a fixed number of pulses at the target speed. In the case of single step moves or the
last step in a move there is also a deceleration from the target speed (last target speed) to stop.
The PTO and module support a maximum of 25 profiles.
Defining the Motion Profile
The Position Control wizard guides you through 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.
Selecting the Mode of Operation for the Profile
You configure the profile according the the mode of operation desired. The PTO supports relative
position and single speed continuous rotation. The Position module supports absolute position,
relative position, single-speed continuous rotation, and two-speed continuous rotation. Figure 9-6
shows the different modes of operation.
Absolute Position
(Position Module only)
Starting Ending
0
Position Position
Zero
Position
Relative Position
Starting Ending Position
Position
Measured from the
starting point
Figure 9-6 Mode Selections for the Position Module
Open Loop Motion Control with the S7-200
Single-Speed
Continuous Rotation
Controlled by your program until
another command (such as Abort)
is issued
Two-Speed Continuous Rotation
(Position Module only)
Target Speed with
RPS Inactive
Single-Speed Continuous Rotation
with Triggered Stop
(Position Module only)
Target Speed RPS signals
Reached
Target Speed with
RPS Active
Chapter 9
Stop
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