Siemens SINAMICS S120 Function Manual page 249

– Referencing with incremental measuring systems
– Absolute encoder adjustment
S Traversing blocks mode (64 traversing blocks)
– Positioning using traversing blocks that can be saved in the drive unit
including block change enable conditions and specific tasks for an axis that
was previously referenced
– Traversing block editor using STARTER
– A traversing block contains the following information:
Task number
Task (e.g. positioning, wait, block jump GOTO, setting binary outputs)
Motion parameters (target position, velocity override for acceleration and
deceleration)
Mode (e.g.: Skip block, block change enable conditions such as
"Continue_with_stop" and "Continue_flying"
Task parameters (e.g. delay time, block jump conditions)
S Direct setpoint input (MDI) mode
– Positioning (absolute, relative) and setting-up (endless closed-loop position
control) using direct setpoint inputs (e.g. via the PLC or process data)
– It is possible to continually influence the motion parameters while traversing
(flying setpoint transfer) as well as flying change between the setting-up and
positioning modes.
S Jog mode
– Closed-loop position controlled traversing of the axis with the "endless
position controlled" or "jog incremental" modes that can be toggled between
(traverse through a "step width")
S Standard PROFIdrive positioning telegrams are available (telegrams 7 and 110)
which when selected, automatically establish these internal "connection" to the
basic positioner.
S In the present version (FM2.4), the adjustable "jerk" is still not available. If the
traversing profile is to be rounded-off, the position setpoint smoothing (p2533)
should be used.
S Control using PROFIdrive telegrams 7 and 110
(additional information, refer to the Commissioning Manual)
© Siemens AG 2006 All Rights Reserved
SINAMICS S120 Function Manual, 03/2006 Edition
Extended Functions
Function module "basic positioner"
4-249