Siemens SINAMICS S120 Function Manual page 304

Function modules
7.9 Basic positioner
● Task parameter (command-dependent significance) (p2622[0...63])
Intermediate stop and reject traversing task
The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes
with the parameterized deceleration value (p2620 or p2645).
The current traversing task can be canceled by a 0 signal at p2641. After activation, the
system brakes with the maximum deceleration (p2573).
The "intermediate stop" and "cancel traversing task" functions are only effective in the
modes "traversing blocks" and "direct setpoint input/MDI".
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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 triggered via the
binector input p2633 when p2632 = 1 or via the measuring probe input p2661, which
is connected to parameter r2526.2 of the "position control" function module, when
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
the next task at any time during the traveling phase. If "External block change" is not
triggered, the axis remains in the parameterized target position until the signal is
issued. The difference here is that with CONTINUE_EXTERNAL, a flying changeover
is carried out at the braking point if "External block change" has not been triggered,
while here the drive waits for the signal in the target position.
0101, CONTINUE_EXTERNAL_ALARM
This is the same as CONTINUE_EXTERNAL_WAIT, except that alarm A07463
"External traversing block change in traversing block x not requested" is output when
"External block change" is not triggered by the time the drive comes to a standstill.
The alarm can be converted to a fault with a stop response so that block processing
can be aborted if the control signal is not issued.
– cccc: positioning mode
With the POSITON 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.
Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
Drive functions