Siemens SINAMICS S120 Function Manual page 266

Extended Functions
Function module "basic positioner"
POSITIONING
The POSITIONING task initiates motion. The following parameters are evaluated:
S p2616[x]
S p2617[x]
S p2618[x]
S p2619[x]
S p2620[x]
S p2623[x]
The task is executed until the target position is reached. If, when the task is acti-
vated, the drive is already located at the target position, then for the block change
enable (CONTINUE_FLYING, the text task is selected in the same interpolation
clock cycle. For CONTINUE_WITH_STOP, the next block is activated in the next
interpolation clock cycle.
ENDLESS POS, ENDLESS NEG
Using these tasks, the axis is accelerated to the specified velocity and is moved,
until:
S A software limit switch is reached
S The traversing range limit is reached
S Motion is interrupted by the control signal "no intermediate stop/intermediate
stop (p2640)
S Motion is interrupted by the control signal "do not reject traversing task/reject
traversing task" (p2641)
The following parameters are relevant:
S p2616[x]
S p2618[x]
S p2619[x]
S p2623[x]
4-266
Block number
Position
Velocity
Acceleration override
Acceleration override
Task mode
Block number
Velocity
Acceleration override
Task mode
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SINAMICS S120 Function Manual, 03/2006 Edition