Siemens SINAMICS S120 Function Manual page 111

Signal chart
Figure 3-25 Signal chart for "Travel to fixed stop"
Commissioning for PROFIdrive telegrams 2 to 6
1. Activate travel to fixed stop.
2. Set the required torque limit.
3. Run motor to fixed stop.
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Set p1545 = "1".
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
Servo control
3.16 Travel to fixed stop
111