9.8.7
Traversing blocks
Function 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 task
are effective during a block change if:
● The appropriate traversing block number is selected using binector inputs p2625 to p2630
(block selection, bits 0...5) and started using the signal at binector input p2631 (BI: EPOS
(activate traversing task).
● A block change is made in a sequence of traversing tasks.
● An external block change p2632 "External block change" is triggered.
Parameterize traversing blocks
Traversing blocks are parameterized using parameter sets that have a fixed structure:
● Traversing block number (p2616[0...63])
Each traversing block must have a traversing block number assigned to it. 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.
● Task (p2621[0...63])
1: POSITIONING
2: FIXED ENDSTOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
● Motion parameters
– Target position or traversing distance (p2617[0...63])
– Velocity (p2618[0...63])
– Acceleration override (p2619[0...63])
– Deceleration override (p2620[0...63])
Drive functions
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Function modules
9.8 Basic positioner
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