【正文】 speed and ending position for each step. If you have more than one step, simply click the New Step button and enter the information for each step of the profile. however, there are other possible binations. By simply clicking the Plot Step button, you can view a graphical representation of the step, as calculated by the Position Control wizard. This allows you to easily and interactively review and edit each step. the Configuration for the Position Module After you have configured the operation of the Position module, you simply click Finish, and the Position Control wizard performs the following tasks: ① Inserts the module configuration and profile table into the data block for your S7200 program ② Creates a global symbol table for the motion parameters ③ Adds the motion instruction subroutines into the project program block for you to use in your Application You can run the Position Control wizard again in order to modify any configuration or profile information. Position Instructions Created by the Position Control Wizard The Position Control wizard makes controlling the Position module easier by creating unique instruction subroutines based on the position of the module and configuration options you selected. Each position instruction is prefixed with a ”P(pán)OSx_” where x is the module location. Because each position instruction is a subroutine, the 11 position instructions use 11 subroutines. Guidelines for Using the Position Instructions You must ensure that only one position instruction is active at a time. You can execute the POSx_RUN and POSx_GOTO from an interrupt routine. However, it is very important that you do not attempt to start an instruction in an interrupt routine if the module is busy processing another mand. If you start an instruction in an interrupt routine, then you can use the outputs of the POSx_CTRL instruction to monitor when the Position module has pleted the movement. The Position Control wizard automatically configures the values for the speed parameters (Speed and C_Speed) and the position parameters (Pos or C_Pos) according to the measurement system that you selected. For pulses, these parameters are DINT values. For engineering units, the parameters are REAL values for the type of unit that you selected. For example: selecting centimeters (cm) stores the position parameters as REAL values in centimeters and stores the speed parameters as REAL values in centimeters per second (cm/sec). The following position instructions are required for specific position control tasks: ① Insert the POSx_CTRL instruction in your program and use the contact to execute it every scan. ② To specify motion to an absolute position, you must first use either an POSx_RSEEK or a POSx_LDPOS instruction to establish the zero position. ③ To move to a specific location, based on inputs from your program, use the POSx_GOTO instruction. ④ To run the motion profiles you configured with the Position Control wizard, use the POSx_RUN instruction. The other position instructions are optiona POSx_CTRL Instruction The POSx_CTRL instruction (Control) enables and initializes the Position module by automatically manding the Position module to load the configuration/profile table each time the S7200 changes to RUN mode. Use this instruction only once in your project, and ensure that your program calls this instruction every scan. Use (Always On) as the input for the EN parameter. The EN parameter must be on to enable the other position instructions to send mands to the Position module. If the EN parameter turns off, then the Position module aborts any mand that is in progress. The output parameters of the POSx_CTRL instruction provide the current status of the Position module. The Done parameter turns on when the Position module pletes any instruction. The Error parameter contains the result of this instruction. The C_Pos parameter is the current position of the module. Based of the units of measurement, the value is either a number of pulses (DINT) or the number of engineering units (REAL). The C_Speed parameter provides the current speed of the module. If you configured the measurement system for the Position module for pulses, C_Speed is a DINT value containing the number of pulses/second. If you configured the measurement system for engineering units, C_Speed is a REAL value containing the selected engineering units/second (REAL). The C_Dir parameter indicates the current direction of the motor. POSx_MAN Instruction The POSx_MAN instruction (Manual Mode) puts the Position module into manual mode. This allows the motor to be run at different speeds or to be jogged in a positive or negative direction. While the POSx_MAN instruction is enabled, only the POSx_CTRL and POSx_DIS instructions are allowed. You can enable only one of the RUN, JOG_P, or JOG_N inputs at a time. Enabling the RUN (Run/Stop) parameter mands to the Position module to accelerate to the specified speed (Speed parameter) and direction (Dir parameter). You can change the value for the Speed parameter while the motor is running, but the Dir parameter must remain constant. Disabling the RUN parameter mands the Position module to decelerate until the motor es to a stop. Enabling the JOG_P (Jog Positive Rotation) or the JOG_N (Jog Negative Rotation) parameter mands the Position module to jog in either a positive or negative direction. If the JOG_P or JOG_N parameter remains enabled for less than seconds, the Position module issues pulses to travel the distance specified in JOG_INCREMENT. If the JOG_P or JOG_N parameter remains enabled for seconds or longer, the motion module begins to accelerate to the specified JOG_SPEED. POSx_GOTO Instruction The POSx_GOTO instruction mands the Position Modul