Siemens SINAMICS S120 Function Manual page 534

Function modules
8.8 Basic positioner
Parameter sets
Traversing blocks are parameterized using parameter sets that have a fixed structure:
● Traversing block number (p2616[0...63])
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.
● Task (p2621[0...63])
1: POSITIONING
2: FIXED ENDSTOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
● Motion parameters
– Target position or traversing distance (p2617[0...63])
– Velocity (p2618[0...63])
– Acceleration override (p2619[0...63])
– Deceleration override (p2620[0...63])
● Task mode (p2623[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: Identifiers
– bbbb: Continuation condition
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000x → hide/show block (x = 0: show, x = 1: hide)
A hidden block cannot be selected binary-coded via binector inputs p2625 to p2630.
An alarm is output if you attempt to do so.
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 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 probe 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.
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions