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02.99
5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)
5.3.2
Structure and description of the traversing blocks
Structure of
The traversing blocks are emulated in parameters as follows:
traversing blocks
Table 5-5
Parameters for traversing blocks
Block memory...
Block
Block
...
Component
1
2
80:1
80:2
...
PSW
(Program control
word)
81:1
81:2
...
Target position
82:1
82:2
...
Velocity or
speed
83:1
83:2
...
Acceleration
84:1
84:2
...
Timer value
85:1
85:2
...
Signaling posi-
tion
86:1
86:2
...
SMStart,
MMStart
87:1
87:2
...
MMStop,
MMPos
1) The task ID to change a value can be derived from the data width (2 or 4) specified in the format.
Examples: I2 ––> AK = 2 for array parameters AK = 7, C4 ––> AK = 3 for array parameters AK = 8
2) Formats: ––> refer to Chapter 4.3, Table 4-16
3) Traversing blocks 1 and 2:
Traversing blocks 3 to 27:
4) Traversing blocks 1 and 2:
Traversing blocks 3 to 27:
5) Negative value:
E Siemens AG 2013 All Rights Reserved
SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition
Description
Min.
Stan-
Max.
dard
0000
–
FFFF
Hex
hex
–2 S 10
2 S 10
5
5
–
5)
–100
–
100
0
–
100
2 S 10
6
0
–
–2 S 10
2 S 10
5
5
–
0000
–
FFFF
Hex
hex
0000
–
FFFF
Hex
hex
Speed = P82:x S P26 S P24 S P8
Closed–loop speed contr. operation: Speed = P82:x S P24 S P8
Closed–loop position contr. operation: Velocity = P82:x S P24 S P10
Acceleration = P83:x S P27 S P25 S P9
Closed–loop speed contr. operation: Acceleration = P83:x S P25 S P9
Closed–loop position contr. operation: Accel. = P83:x S P25 S P22
––> Reversal of the motor direction
5 Description of the Functions
Memory
Unit
Format
...
Block
1) 2)
–
V2
...
80:27
mm
C4
...
81:27
Degrees
inch
%
OC2
...
82:27
3)
%
OC2
...
83:27
4)
10 ms
T4
...
84:27
mm
C4
...
85:27
Degrees
inch
–
V2
...
86:27
–
V2
...
87:27
5-143
27
5
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