Travel To Fixed Stop - Siemens Sinamics S120 Function Manual

Any two of the SET_O, RESET_O and GOTO orders can be processed in an interpolation
cycle and a subsequent POSITION and WAIT order can be started.
Function diagrams (see SINAMICS S120/S150 List Manual)
● 3616 Traversing blocks operating mode
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p2616 EPOS traversing block, block number
● p2617 EPOS traversing block, position
● p2618 EPOS traversing block, velocity
● p2619 EPOS traversing block, acceleration override
● p2620 EPOS traversing block, deceleration override
● p2621 EPOS traversing block, task
● p2622 EPOS traversing block, task parameter
● p2623 EPOS traversing block, task mode
● p2625...p2630 BI: EPOS block selection bits 0 ... 5
7.8.8

Travel to fixed stop

Description
The "Travel to fixed stop" function can be used, for example, to traverse sleeves to a fixed
stop against the workpiece with a predefined torque. In this way, the workpiece can be
securely clamped. The clamping torque can be parameterized in the traversing task (p2622).
An adjustable monitoring window for travek to fixed stop prevents the drive from traveling
beyond the window if the fixed stop should break away.
In positioning mode, travel to fixed stop is started when a traversing block is processed with
the FIXED STOP command. In this traversing block, in addition to the specification of the
dynamic parameterized position, speed, acceleration override and delay override, the
required clamping torque can be specified as task parameter p2622. From the start position
onwards, the target position is approached with the parameterized speed. The fixed stop (the
workpiece) must be between the start position and the braking point of the axis; that is, the
target position is placed inside the workpiece. The preset torque limit is effective from the
start, i.e. travel to fixed stop also occurs with a reduced torque. The preset acceleration and
delay overrides and the current speed override are also effective. Dynamic following error
monitoring (p2546) in the position controller is not effective when traveling to the fixed stop.
As long as the drive travels to the fixed stop or is in fixed stop, the "Travel to fixed stop
active" status bit r2683.14 is set.
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Function modules
7.8 Basic positioner
381