Siemens SINAMICS V90 Operating Instructions Manual page 165

Regardless of the parameterized continuation condition which is parameterized for the task
that precedes the WAIT task, an exact stop is always executed before the waiting time
expires. The WAIT task can be executed by an external block change.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT, and
CONTINUE_EXTERNAL_ALARM. The fault message is triggered when "External block
change" has still not been issued after the waiting time has elapsed.
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 continuation
condition is not permissible. If there is no 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:
● p2622[x] Task parameter = Next traversing block number
Any two of the SET_O, RESET_O and GOTO tasks can be processed in an interpolation
cycle and a subsequent POSITION and WAIT task can be started.
SET_O, RESET_O
Currently, these two functions are reserved.
Intermediate stop and reject a traversing task
When telegrams 7, 9, 110, and 111 are used, reject a traversing task with the PROFINET
control word STW1.4:
Control word
When telegrams 7, 9, 110, and 111 are used, perform an intermediate stop with the
PROFINET control word STW1.5:
Control word
Overview of important parameters
• p2617[0...15]
• p2618[0...15]
• p2619[0...15]
• p2620[0...15]
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2017, A5E37208830-003
Setting
STW1.4 1
0
Setting
STW1.5 1
0
EPOS traversing block, position
EPOS traversing block, velocity
EPOS traversing block, acceleration override
EPOS traversing block, deceleration override
Description
Do not reject a traversing task.
Reject a traversing task (ramp-down with the maximum
deceleration).
Description
No intermediate stop.
Intermediate stop.
Control functions
7.2 Basic positioner (EPOS)
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