Siemens Simatic S7 Series

Open loop motion control
12.7 Using the AXISx_ABSPOS subroutine to read the absolute position from a SINAMICS servo drive
S7-200 SMART
System Manual, 09/2015, A5E03822230-AC
523
12.7
Using the AXISx_ABSPOS subroutine to read the absolute position
from a SINAMICS servo drive
The following sections provide information about how to use the AXISx_ABSPOS subroutine
in your project to read the absolute position from a SINAMICS V90 servo drive.
12.7.1
AXISx_ABSPOS and AXISx_LDPOS subroutines usage examples
The absolute position is valid only after successful completion of the AXISx_ABSPOS
subroutine (Done parameter = ON and Error parameter = "no error") when executed with the
START parameter on. Since the Error and D_Pos parameters revert to default values when
the subroutine is executed with the START input off, you must include instructions in your
program to capture the valid absolute position value after completion of the subroutine.
Table 12- 32 Example: Using the AXISx_ABSPOS subroutine to read the absolute position from a SINAMICS V90 servo
drive
LAD/FBD
Description
STL
Network 1: Read the servo position
from the drive.
LD SM0.0
= L60.0
LD M0.0
EU
= L63.7
LD I0.0
= L63.6
LD I0.1
= L63.5
LD L60.0
CALL
AXIS0_ABSPOS,
L63.7, L63.6, L63.5,
1048576,1, 0,
V600.0,
VB601, VD602