Siemens SINAMICS S150 Operating Instructions Manual page 388

Functions, monitoring, and protective functions
9.4 Extended functions
The following parameters are relevant:
● p2616[x]: Block Number
● p2618[x]: Velocity
● p2619[x]: Acceleration override
● p2623[x]: Task mode
JERK
Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter =
0) by means of the JERK task. The signal at the binector input p2575 "Active jerk limitation"
must be set to zero. The value parameterized in "jerk limit" (p2574) is the jerk limit.
A precise stop is always carried out here regardless of the parameterized continuation
condition of the task preceding the JERK task.
The following parameters are relevant:
● p2616[x]: Block Number
● p2622[x]: Task parameter = 0 or 1
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.
WAITING
The WAIT task can be used to define a waiting period which should expire before the next
task is executed.
The following parameters are relevant:
● p2616[x]: Block Number
● p2622[x]: Task parameter = wait time in milliseconds ≥ 0 ms
● p2623[x]: Task mode
The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator
clock cycles p0115[5]. The minimum delay time is one interpolation clock cycle; this means
that if a delay time is parameterized, which is less than an interpolation clock cycle, then the
system waits for one interpolation clock cycle.
Example:
● Wait time: 9 ms
● Interpolation cycle: 4 ms
● Effective wait time: 12 ms
Regardless of the parameterized continuation condition of the task preceding the WAIT task,
a precise stop is always carried out here before the wait time. The WAIT task can be
executed by an external block change.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT, and
CONTINUE_EXTERNAL_ALARM. The alarm is triggered when "External block change" has
still not been issued after the waiting time has elapsed.
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Drive converter cabinet units
Operating Instructions, 07/07, A5E00288214A