Siemens SINAMICS S120 Function Manual page 536

Function modules
8.8 Basic positioner
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 cycle. For CONTINUE_WITH_STOP, the next block is activated in the next
interpolation 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] Deceleration override
● p2623[x] Task mode
● p2622[x] Task parameter clamping torque [0.01 Nm] with rotary motors or clamping force
in [1 N] with linear motors.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.
ENDLESS POS, ENDLESS NEG
Using these tasks, the axis is accelerated to the specified velocity and is moved until:
● A software limit switch is reached.
● A STOP cam signal has been issued.
● The traversing range limit is reached.
● Motion is interrupted by the control signal "no intermediate stop / intermediate stop"
(p2640).
● Motion is interrupted by the control signal "do not reject traversing task / reject traversing
task" (p2641).
● An external block change is triggered (with the appropriate continuation condition).
The following parameters are relevant:
● p2616[x] Block number
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2623[x] Task mode
All continuation conditions are possible.
536
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions