Traversing Blocks - Siemens Sinamics S120 Function Manual

Function modules
7.8 Basic positioner
Flying referencing using Safety Integrated Extended functions
Flying referencing is frequently used to compensate for any inaccuracies in the actual value
sensing, and therefore to optimize positioning accuracy on the load side. The Safety
Integrated Extended functions have lower accuracy requirements than the control. For
Safety Integrated Extended functions, cyclic adjustment is not necessary.
The initial activation signal initiates referencing. If, at the next switching signal, it is detected
that the "referenced" state already exists, then no new reference position is transferred to
Safety Integrated functions.
7.8.7

Traversing blocks

Description
Up to 64 different traversing tasks can be saved. The maximum number is set using
parameter p2615 (maximum number of traversing tasks). All parameters which describe a
traversing order are effective during a block change, i.e. if:
● The appropriate traversing block number is selected using binector inputs p2625 to
● A block change is made in a sequence of traversing tasks.
● An external block change p2632 "External block change" is triggered.
Traversing blocks are parameterized using parameter sets that have a fixed structure:
● Traversing block number (p2616[0...63])
● Task (p2621[0...63])
● Motion parameters
376
p2630 (block selection, bits 0...5) and started using the signal at binector input p2531
(activate traversing task).
Every traversing block must be assigned a traversing block number (in STARTER "No.").
The traversing blocks are executed in the sequence of the traversing block numbers.
Numbers containing the value "-1" are ignored so that the space can be reserved for
subsequent traversing blocks, for example.
1: POSITIONING
2: FIXED ENDSTOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
– Target position or traversing distance (p2617[0...63])
– Velocity (p2618[0...63])
– Acceleration override (p2619[0...63])
– Deceleration override (p2620[0...63])
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Drive functions