Siemens SINAMICS V90 Operating Instructions Manual page 164

Control functions
7.2 Basic positioner (EPOS)
● p2623[x] Task mode
● p2622[x] Task parameter clamping torque [0.01 Nm] with rotary motors.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.
ENDLESS POS, ENDLESS NEG
Using these tasks, the axis is accelerated to the specified velocity and is moved until:
● A software limit switch is reached.
● A STOP cam signal has been issued.
● The traversing range limit is reached.
● Motion is interrupted by the control signal "no intermediate stop / intermediate stop"
(STW1.5).
● Motion is interrupted by the control signal "do not reject traversing task / reject traversing
task" (STW1.4).
● An external block change is triggered (with the appropriate continuation condition).
The following parameters are relevant:
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2623[x] Task mode
All continuation conditions are possible.
JERK
Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter = 0)
by means of the JERK task. 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:
● p2622[x] Task parameter = 0 or 1
All continuation conditions are possible.
WAIT
The WAIT task can be used to set a waiting period which should expire before the following
task is processed.
The following parameters are relevant:
● p2622[x] Task parameter = delay time in milliseconds ≥ 0 ms, but is rounded-off to a
multiple of numeral 8
● p2623[x] Task mode
164
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2017, A5E37208830-003