Siemens SINAMICS S120 Function Manual page 537

JERK
Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter =
0) by means of the JERK task. The signal at the binector input p2575 "Active jerk limitation"
must be set to zero. The value parameterized in "jerk limit" p2574 is the jerk limit.
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 task can be used to set a waiting period which should expire before the following
task 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
cycles p0115[5]. The minimum delay time is one interpolation cycle; this means that if a
delay time is parameterized which is less than an interpolation cycle, then the system waits
for one interpolation cycle.
Example:
Waiting time: 9 ms
Interpolation cycle: 4 ms
Active waiting time: 12 ms
Regardless of the parameterized continuation condition which is parameterized for the task
that precedes the WAIT task, an exact stop is always executed before the waiting time
expires. 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 fault message 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.
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Function modules
8.8 Basic positioner
537