Siemens SINAMICS S120 Function Manual page 497

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All continuation conditions are possible.

The WAIT task can be used to set a waiting period which should expire before the following task

is processed.

The following parameters are relevant:

● p2616[x] Block number

● p2622[x] Task parameter = delay time in milliseconds ≥ 0 ms

● p2623[x] Task mode

The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator

cycles p0115[5]. The minimum delay time is one interpolation cycle; this means that if a delay

time is parameterized which is less than an interpolation cycle, then the system waits for one

interpolation cycle.

Waiting time: 9 ms

Interpolation cycle: 4 ms

Active waiting time: 12 ms

Regardless of the parameterized continuation condition which is parameterized for the task

that precedes the WAIT task, an exact stop is always executed before the waiting time expires.

The WAIT task can be executed by an external block change.

Possible continuation conditions include END, CONTINUE_WITH_STOP,

CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT, and

CONTINUE_EXTERNAL_ALARM. The fault message is triggered when "External block

change" has still not been issued after the waiting time has elapsed.

Using the GOTO task, jumps can be executed within a sequence of traversing tasks. The block

number which is to be jumped to must be specified as task parameter. A continuation condition

is not permissible. If there is a block with this number, then alarm A07468 (jump destination

does not exist in traversing block x) is output and the block is designated as being inconsistent.

The following parameters are relevant:

● p2616[x] Block number

● p2622[x] Task parameter = Next traversing block number

Any two of the SET_O, RESET_O and GOTO tasks can be processed in an interpolation cycle

and a subsequent POSITION and WAIT task can be started.

SET_O, RESET_O

The tasks SET_O and RESET_O allow up to two binary signals (output 1 or 2) to be

simultaneously set or reset. The number of the output (1 or 2) is specified bit-coded in the task

Drive functions

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

Function modules

9.8 Basic positioner