Siemens SINAMICS G120D Operating Instructions Manual page 214

Advanced commissioning
7.6 Basic positioner and position control
Fixed stop has been reached
You have two options to define when the fixed stop is reached:
1. Fixed stop via an external sensor:
At the fixed stop, the load actuates an external sensor. The sensor signals the converter
that the fixed stop has been reached. Depending on the advance condition, the converter
maintains the axis at the position with the set torque or goes to the next traversing block.
2. Fixed stop using maximum following error:
If the axis comes into contact with the mechanical fixed stop, then the actual position
value remains stationary. However, the converter still increases its position setpoint. The
converter detects the fixed stop from a settable difference between the position setpoint
and position actual value. Depending on the advance condition, the converter maintains
the axis at the position with the set torque or goes to the next traversing block.
Example: Fixed stop using maximum following error
Table 7- 21 Traversing blocks
Ind. No. Job
1 1 TRAVEL TO FIXED
STOP
2 2 POSITIONING
Figure 7-43
214
Par. Mode
5 RELATIVE
0 ABSOLUTE
Converter detects the fixed stop using the following error
s v a
10,000 10 100
0 500 100
Operating Instructions, 04/2015, FW V4.7.3, A5E34261542B AB
-a Advance
100 CONTINUE WITH STOP
100 END
Converter with control units CU250D-2