Siemens Simatic S7 Series

Open loop motion control
12.8 Axis of Motion example programs
S7-200 SMART
System Manual, 09/2015, A5E03822230-AC
531
12.8.2
Axis of Motion AXISx_CTRL, AXISx_RUN, AXISx_SEEK, and AXISx_MAN
example
This program provides an example of the AXISx_CTRL, AXISx_RUN, AXISx_RSEEK, and
AXISx_MAN subroutines. You must configure the RP seek mode and a motion profile.
Table 12- 34 Example: Axis of Motion AXISx_CTRL, AXISx_RUN, AXISx_SEEK, and AXISx_MAN subroutines application
LAD/FBD
Description
STL
Network 1
Enable the axis by turning
CPU_Input1 off.
Symbol and Address:
1
• Always_On = SM0.0
• AXIS0_CTRL = SBR1
• CPU_Input1 = I0.1
LD Always_On
= L60.0
LDN CPU_Input1
= L63.7
LD L60.0
CALL AXIS0_CTRL,
L63.7, M1.0,
VB900, VD902,
VD906, V910.0
Network 2
Move the axis to a known
position using the Jog
command. You can now
move the axis manually.
Symbol and Address:
1
• AXIS0_MAN = SBR2
• CPU_Input10 = I1.2
• CPU_Input12 = I1.4
• CPU_Input13 = I1.5
• CPU_Input8 = I1.0
• CPU_Input9 = I1.1
LD CPU_Input8
AN M0.0
= L60.0
LD CPU_Input9
= L63.7
LD CPU_Input10
= L63.6
LD CPU_Input12
= L63.5
LD L60.0
CALL AXIS0_MAN,
L63.7, L63.6,
L63.5, 100000.0,
CPU_Input13,
VB920, VD902,
VD906, V910.0
Network 3 Reset the process. Set the
initial step to "0".
Symbol and Address:
1
• CPU_Input1 = I0.1
• CPU_Output3 = Q0.3
• First_Scan_On = SM0.1
• Homing_Done = M1.1
• State_Machine_Step =
VB1500
LD CPU_Input1
O First_Scan_On
R M0.0, 1
MOVB 0,
State_Machine_
Step
R CPU_Output3, 3
R Homing_Done, 2