Siemens SINAMICS S120 Function Manual page 496

Function modules
8.8 Basic positioner
ENDLESS POS, ENDLESS NEG
Using these tasks, the axis is accelerated to the specified velocity and is moved until:
● A software limit switch is reached.
● A STOP cam signal has been issued.
● The traversing range limit is reached.
● Motion is interrupted by the control signal "no intermediate stop / intermediate stop"
(p2640).
● Motion is interrupted by the control signal "do not reject traversing task / reject traversing
task" (p2641).
● An external block change is triggered (with the appropriate continuation condition).
The following parameters are relevant:
● p2616[x] Block number
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2623[x] Task mode
All continuation conditions are possible.
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
496
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Drive functions