Siemens Sinamics S110 Function Manual page 246

Drive functions
7.3 Function modules
Interruption to "Travel to fixed stop"
The "travel to fixed stop" traversing task can be interrupted and continued using the
"intermediate stop" signal at the binector input p2640. The block is canceled using the
binector input signal p2641 "Reject traversing task" or by removing the controller enable. In
all of these cases, the drive is correspondingly braked. Measures are taken to prevent any
risk of damage if the block is canceled when an axis has almost reached the fixed stop
(setpoint already beyond the fixed stop, but still within the threshold for fixed stop detection).
For this purpose, the position setpoint is made to follow the actual position value after
standstill. As soon as the fixed stop is reached, the drive remains in fixed stop even after
cancelation. It can be moved away from the fixed stop using jog or by selecting a new
traversing task.
Note
The fixed stop monitoring window (p2635) is only activated when the drive is at the fixed stop
and remains active until the fixed stop is exited.
Vertical axis
Note
In servo mode, a torque limit offset (p1532) can be entered for vertical axes (see also
chapter: Servo control -> Vertical axis).
With asymmetrical torque limits p1522 and p1523, the net weight is taken into account for
travel to fixed stop in parameters r2686 and r2687.
If, for example, with a suspended load, p1522 is set to +1000 Nm and p1523 to -200 Nm,
then a net weight of 400 Nm (p1522 - p1523) is assumed. If the clamping torque is now
configured as 400 Nm, then r2686[0] is preset to 80%, r2686[1] to 0% and r2687 to 800 Nm
when travel to fixed stop is activated.
Function diagrams (see SINAMICS S110 List Manual)
● 3616 Traversing blocks mode (r0108.4 = 1)
● 3617 Travel to fixed stop (r0108.4 = 1)
● 4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1)
Overview of important parameters (see SINAMICS S110 List Manual)
● p1528 CI: Torque limit, upper/motoring, scaling
● p1529 CI: Torque limit, lower/regenerative scaling
● p1545 BI: Activate travel to fixed stop
● r2526 CO/BO: LR status word
● p2622 EPOS traversing block, task parameter
● p2634 EPOS Fixed stop maximum permissible following error
● p2635 EPOS Fixed stop monitoring window
● p2637 BI: EPOS Fixed stop reached
● p2638 BI: EPOS Fixed stop outside monitoring window
246
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Drive functions