For simulate user program and physical systems I use PLCSIM (with Record/Play scenario) and "virtual" MP370 Touch in ProTool/Runtime (with buttons=BQ and sliders=position/encoders) for imitation of physical systems.
Specialty modules FMs (like your positioning module) and CPs are not simulated in PLC-SIM.
However, you can relatively easily make your own simulation routine that works like a positioning module.