Siemens SINAMICS S120 Function Manual page 506

Function modules
9.8 Basic positioner
Axis moves forwards (r2683.4)Axis moves backwards (r2683.5)Axis accelerates (r2684.4)Drive
decelerates (r2684.5)Drive stationary (zero speed) (r2199.0)
These signals display the current motion status. If the actual absolute speed is less or equal to
p2161, then the status signal "drive stationary" is set - otherwise it is deleted. The signals are
appropriately set if jog mode, reference point approach or a traversing task is active.
Cam switching signal 1 (r2683.8)Cam switching signal 2 (r2683.9)
The electronic cam function can be implemented using these signals. Cam switching signal 1
is 0 if the actual position is greater than p2547 - otherwise 1. Cam switching signal 2 is 0 if the
actual position is greater than p2548 - otherwise 1. This means that the signal is deleted if the
drive is located behind (after) the cam switching position. The position controller initiates these
signals.
Direct output 1 (r2683.10)Direct output 2 (r2683.11)
If a digital output is parameterized, the function "direct output 1" or "direct output 2", then it can
be set by a corresponding command in the traversing task (SET_O) or reset (RESET_O).
Following error in tolerance (r2684.8)
When the axis is traversed, closed-loop position controlled, using a model, the permissible
following error is determined from the instantaneous velocity and the selected Kv factor.
Parameter p2546 defines a dynamic following error window that defines the permissible
deviation from the calculated value. The status signal indicates as to whether the following error
is within the window (status 1).
Target position reached (r2684.10)
The status signal "target position reached" indicates that the drive has reached its target
position at the end of a traversing command. This signal is set as soon as the actual drive
position is within the positioning window p2544 and is reset, if it leaves this window.
The status signal is not set, if
● Signal level 1 at binector input p2554 "signal traversing command active".
● Signal level 0 at binector input p2551 "signal setpoint static".
The status signal remains set, until
● Signal level 1 at binector input p2551 "signal setpoint static".
Reference point set (r2684.11)
The signal is set as soon as referencing has been successfully completed. It is deleted as soon
as no reference is there or at the start of the reference point approach.
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Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Drive functions