Siemens Sinamics S120 Function Manual page 380

Function modules
7.8 Basic positioner
● Task parameter (command-dependent significance) (p2622[0...63])
Intermediate stop and reject traversing task
The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes
with the parameterized deceleration value (p2620 or p2645).
The current traversing task can be canceled by a 0 signal at p2641. After activation, the
system brakes with the maximum deceleration (p2573).
The "intermediate stop" and "cancel traversing task" functions are only effective in the
modes "traversing blocks" and "direct setpoint input/MDI".
POSITIONING
The POSITIONING task initiates motion. The following parameters are evaluated:
● p2616[x] Block number
● p2617[x] Position
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2620[x] Acceleration override
● p2623[x] Task mode
The task is executed until the target position is reached. If, when the task is activated, the
drive is already located at the target position, then for the block change enable
(CONTINUE_ON-THE-FLY or CONTINUE_EXTERNAL, the text task is selected in the same
interpolation clock cycle. For CONTINUE_WITH_STOP, the next block is activated in the
next interpolation clock cycle. CONTINUE_EXTERNAL_ALARM causes a message to be
output immediately.
FIXED STOP
The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop.
The following parameters are relevant:
● p2616[x] Block number
● p2617[x] Position
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2620[x] Acceleration override
● p2623[x] Task mode
● p2622[x] Task parameter clamping torque [0.01 Nm] with rotary motors or clamping force
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.
378
in [0.01 N] with linear motors.
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Drive functions