Siemens SIMATIC S7-1200 - Page 732

Technology instructions
10.3 Motion control
S7-1200 Programmable controller
732 System Manual, V4.2, 09/2016, A5E02486680-AK
CPU firmware levels
If you have an S7-1200 CPU with V4.1 or later firmware, select the V5.0 version of each
motion instruction.
If you have an S7-1200 CPU with V4.0 or earlier firmware, select the applicable V4.0, V3.0,
V2.0, or V1.0 version of each motion instruction.
Note
Instructions in motion control V1.0 to V3.0 actively control t
he ENO output of the instruction.
When an error occurs within the block, the ENO output is turned to the OFF state. An error is
indicated by the ERROR, ErrorID, and ErrorInfo outputs on the block. Using the ENO output,
it is possible to evaluate the status
of the instruction and execute subsequent instructions
after it in a serial manner.
With instructions in motion control V4.0 and V5.0, the ENO output stays true as long as the
instruction executes regardless of its error state. This could cause a program
that used V3.0
or earlier motion control that depends on the ENO status to function incorrectly. To remedy
this situation, use the DONE and ERROR outputs to evaluate the status of the instruction
rather than the ENO output when using motion control V4.0 or
later.
Note
The CPU calculates motion tasks in "slices" or segments of 10
ms. As one slice is being
executed, the next slice is waiting in the queue to be executed. If you interrupt the motion
task on an axis (by executing another new motion task fo
r that axis), the new motion task
cannot be executed for a maximum of 20
ms (the remainder of the current slice plus the
queued slice).