Travel To Fixed Stop - Siemens SINAMICS S120 Function Manual

Function modules
8.8 Basic positioner
Any two of the SET_O, RESET_O and GOTO tasks can be processed in an interpolation
cycle and a subsequent POSITION and WAIT task can be started.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3616
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2616
• p2617
• p2618
• p2619
• p2620
• p2621
• p2622
• p2623
• p2625...p2630
8.8.8

Travel to fixed stop

The "Travel to fixed stop" function can be used, for example, to traverse sleeves to a fixed
stop against the workpiece with a predefined torque. In this way, the workpiece can be
securely clamped. The clamping torque can be parameterized in the traversing task (p2622).
An adjustable monitoring window for travel to fixed stop prevents the drive from traveling
beyond the window if the fixed stop should break away.
In positioning mode, travel to fixed stop is started when a traversing block is processed with
the FIXED STOP command. In this traversing block, in addition to the specification of the
dynamic parameterized position, speed, acceleration override and delay override, the
required clamping torque can be specified as task parameter p2622. From the start position
onwards, the target position is approached with the parameterized speed. The fixed stop (the
workpiece) must be between the start position and the braking point of the axis; that is, the
target position is placed inside the workpiece. The preset torque limit is effective from the
start, i.e. travel to fixed stop also occurs with a reduced torque. The preset acceleration and
delay overrides and the current speed override are also effective. Dynamic following error
monitoring (p2546) in the position controller is not effective when traveling to the fixed stop.
As long as the drive travels to the fixed stop or is in fixed stop, the "Travel to fixed stop
active" status bit r2683.14 is set.
498
EPOS - Traversing blocks mode (r0108.4 = 1)
EPOS traversing block, block number
EPOS traversing block, position
EPOS traversing block, velocity
EPOS traversing block, acceleration override
EPOS traversing block, delay override
EPOS traversing block, task
EPOS traversing block, task parameter
EPOS traversing block, task mode
BI: EPOS block selection bits 0 ... 5
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Drive functions