Siemens SIMOTICS S-1FL6 Operating Instructions Manual page 144

Control functions
7.2 Basic positioner (EPOS)
Parameter sets
Traversing blocks are parameterized using parameter sets that have a fixed structure:
● Task (p2621[0...15])
1: POSITIONING
2: FIXED ENDSTOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
● Motion parameters
– Target position or traversing distance (p2617[0...15])
– Velocity (p2618[0...15])
– Acceleration override (p2619[0...15])
– Deceleration override (p2620[0...15])
● Task mode (p2623[0...15])
The execution of a traversing task can be influenced by parameter p2623 (task mode).
This is automatically written by programming the traversing blocks in the engineering tool
SINAMICS V-ASSISTANT.
Value = 0000 cccc bbbb aaaa
– aaaa: Identifiers
– bbbb: Continuation condition
144
000x → hide/show block (x = 0: show, x = 1: hide)
0000, END: 0/1 edge at STW1.6
0001, CONTINUE_WITH_STOP:
The exact position parameterized in the block is approached (brake to standstill and
positioning window monitoring) before block processing can continue.
0010, CONTINUE_ON-THE-FLY:
The system switches to the next traversing block "on the fly" when the braking point
for the current block is reached (if the direction needs to be changed, this does not
occur until the drive stops within the positioning window).
0011, CONTINUE_EXTERNAL:
Same as "CONTINUE_ON-THE-FLY", except that an instant block change can be
triggered up to the braking point by a 0/1 edge. If an external block change is not
triggered, a block change is triggered at the braking point.
0100, CONTINUE_EXTERNAL_WAIT:
Control signal "External block change" can be used to trigger a flying changeover to
the next task at any time during the traveling phase. If "External block change" is not
triggered, the axis remains in the parameterized target position until the signal is
issued. The difference here is that with CONTINUE_EXTERNAL, a flying changeover
is carried out at the braking point if "External block change" has not been triggered,
while here the drive waits for the signal in the target position.
0101, CONTINUE_EXTERNAL_ALARM:
This is the same as CONTINUE_EXTERNAL_WAIT, except that alarm A07463
"External traversing block change in traversing block x not requested" is output when
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2016, A5E37208830-002