Siemens SINAMICS S120 Function Manual page 268

Function modules
7.9 Basic positioner
● An external block change p2632 "External block change" is triggered.
Traversing blocks are parameterized using parameter sets that have a fixed structure:
● Traversing block number (p2616[0...63])
● Task (p2621[0...63])
● Motion parameters
● Task mode (p2623[0...63])
268
Every traversing block must be assigned a traversing block number (in STARTER "No.").
The traversing blocks are executed in the sequence of the traversing block numbers.
Numbers containing the value "-1" are ignored so that the space can be reserved for
subsequent traversing blocks, for example.
1: POSITIONING
2: FIXED ENDSTOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
– Target position or traversing distance (p2617[0...63])
– Velocity (p2618[0...63])
– Acceleration override (p2619[0...63])
– Deceleration override (p2620[0...63])
The execution of a traversing task can be influenced by parameter p2623 (task mode).
This is automatically written by programming the traversing blocks in STARTER.
Value = 0000 cccc bbbb aaaa
– aaaa: Display/hide
0000: Block is not hidden
0001: Block is hidden
A hidden block cannot be selected binary-coded via binector inputs p2625 to p2630.
An alarm is output if you attempt to do so.
– bbbb: Continuation condition
0000, END: 0/1 edge at p2631
0001, CONTINUE_WITH_STOP:
The exact position parameterized in the block is approached (brake to standstill and
positioning window monitoring) before block processing can continue.
0010, CONTINUE_ON-THE-FLY:
The system switches to the next traversing block "on the fly" when the braking point
for the current block is reached (if the direction needs to be changed, this does not
occur until the drive stops within the positioning window).
0011, CONTINUE_EXTERNAL:
Same as "CONTINUE_ON-THE-FLY", except that an instant block change can be
triggered up to the braking point by a 0/1 edge. The 0/1 edge can be connected to
parameter r2526.2 of the "position control" function module, via the binector input
p2633 with p2632 = 1, or via the measuring input p2661 with p2632 = 0. Position
detection via the measuring input can be used as an accurate starting position for
relative positioning. If an external block change is not triggered, a block change is
triggered at the braking point.
0100, CONTINUE_EXTERNAL_WAIT
Control signal "External block change" can be used to trigger a flying changeover to
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Drive Functions