Siemens Sinamics S120 Function Manual page 356

Function modules
7.8 Basic positioner
● Traversing blocks operating mode
● Direct setpoint input (MDI) mode
● Jog mode
● Standard PROFIdrive positioning telegrams are available (telegrams 7, 9 and 110), the
● Control via PROFIdrive telegrams 7 and 110
354
– Positioning using traversing blocks that can be saved in the drive unit including block
change enable conditions and specific tasks for an axis that was previously referenced
– Traversing block editor using STARTER
– A traversing block contains the following information:
traversing block number
job (e.g. positioning, wait, GOTO block step, setting of binary outputs)
motion parameters (target position, velocity override for acceleration and deceleration)
mode (e.g: Skip block, block change enable conditions such as "Continue_with_stop"
and "Continue_flying")
Task parameters (e.g. delay time, block step conditions)
– Positioning (absolute, relative) and setting-up (endless closed-loop position control)
using direct setpoint inputs (e.g. via the PLC or process data)
– It is always possible to influence the motion parameters during traversing (on-the-fly
setpoint acceptance) as well as on-the-fly change between the Setup and Positioning
modes.
– Closed-loop position controlled traversing of the axis with the "endless position
controlled" or "jog incremental" modes that can be toggled between (traverse through
a "step width")
selection of which automatically establishes the internal "connection" to the basic
positioner.
(for additional information, see Chapter Cyclic communication (Page 509) and SINAMICS
S120/S150 List Manual)
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Drive functions