Siemens SINAMICS S120 Function Manual page 146

Servo control
3.16 Travel to fixed stop
When the "basic positioner" function module is activated, the signals listed above are
automatically interconnected to the basic positioner.
Figure 3-18 Signals for "Travel to fixed stop"
When PROFIdrive telegrams 2 to 6 are used, no torque reduction is transferred. When the
"Travel to fixed stop" function is activated, the motor ramps up to the torque limits specified
in p1520 and p1521. If the torque has to be reduced, protocols 102 to 106, for example, can
be used to transfer it. Another option would be to enter a fixed value in p2900 and
interconnect it to the torque limits p1528 and p1529.
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Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
Drive functions