Siemens SIMATIC S7-200 System Manual page 291

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 9-26.
Turning on the Abort parameter commands 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 9-20 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 9-12 Parameters for the POSx_RUN Instruction
Inputs/Outputs
START
Profile
Abort, Done
Error, C_Profile, C_Step
C_Pos, C_Speed
Open Loop Motion Control with the S7-200
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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