Siemens SIMODRIVE 611 universal Function Manual page 418

6 Description of the Functions
6.2 Positioning mode (P0700 = 3, from SW 2.1)
Table 6-38 Parameters used to program traversing blocks, continued
No. Name
0087:64 Block change enable CONTINUE WITH STOP
This block change enable has the following properties
(corresponds to "precise stop G60" acc. to DIN 66025):
xXxx
S
The position programmed in the block is precisely approached
S
The axis braked until the positioning window is reached (P0321)
For P0321=0 or if the following error is less than P0321, the block change is executed as
soon as the interpolator has reached its position reference value.
S
The block is changed when the positioning window is reached.
Blk Pos.
0 10
1 30
2 10
Example:
Programming
3 traversing blocks
Note:
For an existing axis coupling (position coupling), the positioning window is not effective for
CONTINUE WITH STOP. If this represents a problem in an application when the master drive
is stationary, then the PLC would first have to release the coupling and then position the slave
drive normally.
0087:64 Block change enable CONTINUE FLYING
This block change enable has the following properties
(corresponds to "precise stop G64" acc. to DIN 66025):
xXxx
S
The following block is immediately processed when the time to apply the brake is reached
S
For a direction change, the axis brakes down to standstill and waits until the position actual
value has reached the positioning window (this corresponds to the block change enable
"continue with stop"
S
If the deceleration override (P0084:64) between the actual block and the block to be
changed into on the fly differ, then the flying block change is automatically prevented and
instead of this, the CONTINUE WITH STOP block change executed
Blk Pos.
0 10
1 30
2 10
Example:
Programming
3 traversing blocks
There is a direction of reversal between block 1 and block 2. This is the reason that at the
braking instant, the drive brakes from block 1 down to standstill and waits until the position
actual value reaches the positioning window. After this, block 2 is executed.
Note:
For traversing blocks whose distance is able to be travelled through within an IPO clock cycle,
then the drive brakes briefly.
6-418
Min. Standard
Vel. Command
100 POSITIONING
150 POSITIONING
50 POSITIONING
v
150
100
Vel. Command
100 POSITIONING
150 POSITIONING
50 POSITIONING
v
150
100
–50
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Max.
Pos. mode Block change enable
ABSOLUTE CONTINUE WITH STOP
RELATIVE CONTINUE WITH STOP
RELATIVE END
Pos. mode Block change enable
ABSOLUTE CONTINUE FLYING
ABSOLUTE CONTINUE FLYING
ABSOLUTE END
Brake application point
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10.04 01.99
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