Siemens SINAMICS S120 Function Manual page 495

– cccc: positioning mode
● 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 rejected by a 0 signal at p2641. After activation, the system
brakes with the maximum deceleration (p2573).
The "intermediate stop" and "reject traversing task" functions are only effective in "traversing
blocks" and "direct setpoint specification / MDI" modes.
POSITIONING
The POSITIONING task initiates motion. The following parameters are evaluated:
● p2616[x] Block number
● p2617[x] Position
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2620[x] Deceleration override
● p2623[x] Task mode
The task is executed until the target position is reached. If, when the task is activated, the drive
is already located at the target position, then for the block change enable (CONTINUE_ON-
THE-FLY or CONTINUE_EXTERNAL, the text task is selected in the same interpolation cycle.
For CONTINUE_WITH_STOP, the next block is activated in the next interpolation cycle.
CONTINUE_EXTERNAL_ALARM causes a message to be output immediately.
FIXED STOP
The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop.
Drive functions
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
The POSITION 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 modules
9.8 Basic positioner
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