Open loop motion control
12.6 Subroutines created by the Motion wizard for the Axis of Motion
S7-200 SMART
System Manual, V2.3, 07/2017, A5E03822230-AF
627
The Profile parameter contains the number or the symbolic name for the motion profile. The
"Profile" input must be between 0 - 31. If not, the subroutine will return an error.
Turn on the Abort parameter to command the Axis of Motion to stop the current profile and
decelerate until the motor comes to a stop.
The Done parameter turns on when the Axis of Motion completes this subroutine.
The Error parameter (Page 659) contains the result of this subroutine.
The C_Profile parameter contains the profile currently being executed by the Axis of Motion.
The C_Step parameter contains the step of the profile currently being executed.
The C_Pos parameter contains the 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).
Table 12- 14 AXISx_RSEEK
START, Done, Error
The AXISx_RSEEK subroutine (Seek Reference Point Position) initi-
ates a reference point seek operation, using the search method in the
configuration/profile table. When the Axis of Motion locates the refer-
ence point and motion has stopped, the Axis of Motion loads the
RP_OFFSET parameter value into the current position.
Table 12- 15 Parameters for the AXISx_RSEEK subroutine
I, Q, V, M, SM, S, T, C, L, Power Flow
I, Q, V, M, SM, S, T, C, L
IB, QB, VB, MB, SMB, SB, LB, AC, *VD, *AC, *LD
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