Siemens SINAMICS S120 Function Manual page 167

Signal chart
Figure 4-21 Signal chart for "Travel to fixed stop"
Commission PROFIdrive telegrams 2 to 6
1. Activate the "Travel to fixed stop" function via the parameter setting p1545 = "1".
2. Set the required torque limit.
3. Traverse the motor to stop.
Drive functions
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Example:
p1400.4 = 0 → upper or lower torque limit
p1520 = 100 Nm → effective in upper positive torque direction
p1521 = –1500 Nm –→ effective in lower negative torque direction
The motor runs at the set torque until it reaches the stop and continues to work against
the stop until the torque limit has been reached, this status being indicated in status bit
r1407.7 "Torque limit reached".
Servo control
4.17 Travel to fixed stop
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