Siemens SINAMICS S120 Function Manual page 256

Function modules
7.9 Basic positioner
The drive is limited to this velocity if a higher velocity is specified or programmed via the
override (p2646) for the reference point approach or is programmed in the traversing block.
Parameter p2571 (maximum velocity) defines the maximum traversing velocity in units 1000
LU/min. If the maximum velocity is changed, then this limits the velocity of a traversing task
that is presently being executed.
This limit is only effective in the positioning mode for:
● Jog mode
● Processing traversing blocks
● Direct setpoint input/MDI for positioning/setting-up
● Reference point approach
Maximum acceleration/deceleration
Parameter p2572 (maximum acceleration) and p2573 (maximum deceleration) define the
maximum acceleration and the maximum deceleration. In both cases, the units are 1000
LU/s
Both values are relevant for:
● Jog mode
● Processing traversing blocks
● Direct setpoint input/MDI for positioning and setting-up
● Reference point approach
The parameters do not have any effect when faults occur with the fault responses OFF1 /
OFF2 / OFF3.
In the traversing blocks mode, the acceleration and deceleration can be set in multiple
integer steps (1 %, 2 % ... 100 %) of the maximum acceleration and deceleration. In "direct
setpoint input/MDI for positioning and setting up" operating mode, the acceleration/delay
override (assignment of 4000 hex = 100%) is specified.
Note
A maximum acceleration or deceleration dependent on the actual velocity (transitioned
acceleration) is not supported.
Note
When using the PROFIdrive message frame 110, the velocity override is already connected
and has to be supplied by the message frame.
Software limit switches
The connector inputs p2578 (software limit switch minus) and p2579 (software limit switch
plus) limit the position setpoint if the following prerequisites are fulfilled:
● The software limit switches are activated (p2582 = "1")
● The reference point is set (r2684.11 = 1)
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Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Drive Functions