Siemens Simatic S7 Series

Open loop motion control
12.6 Subroutines created by the Motion wizard for the Axis of Motion
S7-200 SMART
System Manual, 09/2015, A5E03822230-AC
511
Table 12- 11 Parameters for the AXISx_GOTO subroutine
Inputs/Outputs
Data type
Operands
START
BOOL
I, Q, V, M, SM, S, T, C, L, Power Flow
Pos, Speed DINT, REAL ID, QD, VD, MD, SMD, SD, LD, AC, *VD, *AC, *LD, Constant
Mode
BYTE
IB, QB, VB, MB, SMB, SB, LB, AC, *VD, *AC, *LD, Constant
Abort, Done BOOL I, Q, V, M, SM, S, T, C, L
Error
BYTE
IB, QB, VB, MB, SMB, SB, LB, AC, *VD, *AC, *LD
C_Pos, C_Speed
DINT, REAL
ID, QD, VD, MD, SMD, SD, LD, AC, *VD, *AC, *LD
Turn on the EN bit to enable the subroutine. Ensure that the EN bit stays on until the DONE
bit signals that the execution of the subroutine has completed.
Turn on the START parameter to send a GOTO command to the Axis of Motion. For each
scan when the START parameter is on and the Axis of Motion is not currently busy, the
subroutine sends a GOTO command to the Axis of Motion. 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 upon 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 upon 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
● 3: Single-speed, continuous negative rotation
The Done parameter turns on when the Axis of Motion completes this subroutine.
Turn on the Abort parameter to command the Axis of Motion to stop execution of this
command and decelerate until the motor comes to a stop.
The Error parameter (Page 545) contains the result of this subroutine.
The C_Pos parameter contains current position of the Axis of Motion. Based upon 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 Axis of Motion. Based upon the
units of measurement, the value is either a number of pulses/second (DINT) or the
engineering units/second (REAL).