Siemens SINAMICS S120 Function Manual page 267

WAITING
Using the WAIT task, a delay time can be inserted, which must first expire before
processing/executing the following task.
The following parameters are relevant:
S p2616[x]
S p2622[x]
S p2623[x]
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:
Delay time:
Interpolation clock cycle:
Effective dalay time:
Independent of the parameterized advance condition of the task that preceded the
WAIT task, there, a precise stop is always executed before the delay time runs.
Possible advance conditions include END and CONTINUE_WITH_STOP.
GOTO
Using the GOTO task, jumps can be executed within a sequence of traversing
tasks. The block number which is to be jumped to must be specified as task
parameter. A condition to advance is not permissible. If there is a block with this
number, then alarm A07468 (jump destination does not exist in traversing block x)
is output and the block is designated as being inconsistent.
The following parameters are relevant:
S p2616[x]
S p2622[x]
In one interpolation clock cycle, any two tasks SET_O, RESET_O and GOTO can
be processed and a subsequent task POSITIONING and WAIT are started.
© Siemens AG 2006 All Rights Reserved
SINAMICS S120 Function Manual, 03/2006 Edition
Block number
Task parameter = delay time in milliseconds >= 0 ms
Task mode
9 ms
4 ms
12 ms
Block number
Task parameter = Next task number
Extended Functions
Function module "basic positioner"
4-267