Siemens SINAMICS S120 Function Manual page 535

– cccc: positioning mode
● 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 rejected by a 0 signal at p2641. After activation, the
system brakes with the maximum deceleration (p2573).
The "intermediate stop" and "reject traversing task" functions are only effective in "traversing
blocks" and "direct setpoint specification / MDI" modes.
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] Deceleration override
● p2623[x] Task mode
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
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
"External block change" is not triggered by the time the drive comes to a standstill.
The alarm can be converted to a fault with a stop response so that block processing
can be canceled if the control signal is not issued.
The POSITION task (p2621 = 1) defines how the position specified in the traversing
task is to be approached.
0000, ABSOLUTE:
The position specified in p2617 is approached.
0001, RELATIVE:
The axis is traveled along the value specified in p2617
0010, ABS_POS:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a positive direction.
0011, ABS_NEG:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a negative direction.
Function modules
8.8 Basic positioner
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