Siemens SINAMICS S120 Function Manual page 309

or the system is switched to jog mode. The clamping torque is therefore also applied during
subsequent waiting tasks. The continuation condition CONTINUE_EXTERNAL_WAIT can be
used to specify that the drive must remain at the fixed stop until a step enabling signal is
applied externally.
As long as the drive remains in fixed stop, the position setpoint is adjusted to the actual
position value (position setpoint = actual position value). Fixed stop monitoring and controller
enable are active.
Note
If the drive is in fixed stop, it can be referenced using the control signal "Set reference point."
If the axis leaves the position that it had at detection of the fixed stop by more than the
selected monitoring window for the fixed stop p2635, then the status bit r2683.12 is reset. At
the same time, the speed setpoint is set to zero, and fault F07484 "Fixed stop outside of the
monitoring window" is triggered with the reaction OFF3 (quick stop). The monitoring window
can be set using the parameter p2635 ("Fixed stop monitoring window"). It applies to both
positive and negative traversing directions and must be selected such that it will only be
triggered if the axis breaks away from the fixed stop.
Fixed stop is not reached
If the brake application point is reached without the "fixed stop reached" status being
detected, then the fault F07485 "Fixed stop is not reached" is output with fault reaction
OFF1, the torque limit is canceled and the drive cancels the traversing block.
Note
• The fault can be changed into an alarm (see chapter: "Message configuration" in the
• The target point must be sufficiently far inside the workpiece.
Interruption to "Travel to fixed stop"
The "travel to fixed stop" traversing task can be interrupted and continued using the
"intermediate stop" signal at the binector input p2640. The block is canceled using the
binector input signal p2641 "Reject traversing task" or by removing the controller enable. In
all of these cases, the drive is correspondingly braked. Measures are taken to prevent any
risk of damage if the block is canceled when an axis has almost reached the fixed stop
(setpoint already beyond the fixed stop, but still within the threshold for fixed stop detection).
For this purpose, the position setpoint is made to follow the actual position value after
standstill. As soon as the fixed stop is reached, the drive remains in fixed stop even after
cancelation. It can be moved away from the fixed stop using jog or by selecting a new
traversing task.
Note
The fixed stop monitoring window (p2635) is only activated when the drive is at the fixed stop
and remains active until the fixed stop is exited.
Drive functions
Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
Commissioning Manual IH1), which means that the drive program will advance to the
next specified block.
Function modules
7.9 Basic positioner
309