Siemens SINAMICS S120 Function Manual page 271

A precise stop is always carried out here regardless of the parameterized continuation
condition of the task preceding the JERK task.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x] Task parameter = 0 or 1
All continuation conditions are possible.
WAITING
The WAIT order can be used to set a waiting period, which should expire before the
following order is processed.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x]Task parameter = delay time in milliseconds ≥ 0 ms
● p2623[x] Task mode
The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator
clock cycles p0115[5]. The minimum delay time is one interpolation clock cycle; this means
that if a delay time is parameterized, which is less than an interpolation clock cycle, then the
system waits for one interpolation clock cycle.
Example:
Wait time: 9 ms
Interpolation clock cycle: 4 ms
Active waiting time: 12 ms
A precise stop is always carried out here before the wait time regardless of the
parameterized continuation condition of the order preceding the WAIT order. The WAIT task
can be executed by an external block change.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT, and
CONTINUE_EXTERNAL_ALARM. The alarm is triggered when "External block change" has
still not been issued after the waiting time has elapsed.
GOTO
Using the GOTO task, jumps can be executed within a sequence of traversing tasks. The
block number which is to be jumped to must be specified as task parameter. A continuation
condition is not permissible. If there is a block with this number, then alarm A07468 (jump
destination does not exist in traversing block x) is output and the block is designated as
being inconsistent.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x] Task parameter = Next traversing block number
Any two of the SET_O, RESET_O and GOTO orders can be processed in an interpolation
cycle and a subsequent POSITION and WAIT order can be started.
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Function modules
7.9 Basic positioner
271