Siemens Sinamics S110 Function Manual page 241

STOP cam
A traversing range can, on one hand, be limited per software using the software limit
switches and on the other hand, the traversing range can be limited per hardware. In this
case, the functionality of the STOP cam (hardware limit switch) is used. The function of the
STOP cams is activated by the 1 signal on the binector input p2568 (activation of STOP
cams).
Once enabled, the activity of binector inputs p2569 (STOP cam, minus) and p2570 (STOP
cam, plus) is checked. These are low active; this means if a 0 signal is present at binector
input p2569 or p2570, then these are active.
When a STOP cam (p2569 or p2570) is active, the current motion is halted with the
maximum deceleration (p2573) and the appropriate status bit r2684.13 (STOP cam minus
active) or r2684.14 (STOP cam plus active) is set.
When an axis has approached a STOP cam, only motion that allows the axis to move away
from the cam is permitted (if both STOP cams are actuated, then no motion is possible).
When the STOP cam is exited, this is identified by the 0/1 edge in the permitted traversing
direction which means that the corresponding status bits (r2684.13 or r2684.14) are reset.
Jerk limitation
Acceleration and deceleration can change suddenly if jerk limiting has not been activated.
The diagram below shows the traversing profile when jerk limitation has not been activated.
The diagram shows that maximum acceleration (a
immediately. The drive accelerates until the target speed (v
switches to the constant velocity phase.
Figure 7-49
Function Manual
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Without jerk limitation
7.3 Function modules
) and deceleration (d
max
) is reached and then
target
Drive functions
) are effective
max
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