Siemens SINAMICS V90 Operating Instructions Manual page 193

– cccc: positioning mode
● Task parameter (command-dependent significance) (p2622[0...15])
Traversing block tasks
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 next 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
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2020, A5E37208830-008
The alarm can be converted to a fault with a stop response so that block processing
can be canceled if the control signal is not issued.
The POSITIONING task (p2621 = 1) defines how the position specified in the
traversing task is to be approached.
0000, ABSOLUTE:
The position specified in p2617 is approached.
0001, RELATIVE:
The axis is traveled along the value specified in p2617
0010, ABS_POS:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a positive direction.
0011, ABS_NEG:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a negative direction.
Control functions
7.2 Basic positioner (EPOS)
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