Siemens SINAMICS S120 Function Manual page 495

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
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
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.
Drive functions
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
in [0.01 N] with linear motors.
Function modules
8.8 Basic positioner
495