6
6.2 Positioning mode (P0700 = 3, from SW 2.1)
6-414
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Table 6-38 Parameters used to program traversing blocks, continued
No. EffectiveUnitsMax.StandardMin.Name
0085:64 Command 1 1 10 – PrgE
Every traversing block must include precisely one command for execution.
1 POSITIONING
Using this command, the axis can be linearly traversed (point to point, PTP).
Note: Other block parameters are still effective (refer to Table 6-37).
2 ENDLESS TRAVERSING_POS
3 ENDLESS TRAVERSING_NEG
With this command, the axis can be traversed with the velocity specified in the
block, up to
– a limit switch is reached
– the motion is interrupted by the input signal ”OC/intermediate stop”
– the motion is interrupted by the input signal ”OC/reject traversing task”
Note: Other block parameters are still effective (refer to Table 6-37).
4 WAITING
A delay time, which should expire before the following traversing block is pro-
cessed, can be defined using this command.
The delay time is specified in the command parameter (P0086:x).
Note:
The command parameter is entered in ms, and is internally and automatically
rounded–off to a multiple of the interpolation clock cycle (P1010).
5 GOTO
Jumps can be executed within a sequence of traversing blocks using this com-
mand.
The jump destination and the block number are specified in the command parame-
ter (P0086:x).
Note:
If the specified block number does not exist, then an appropriate fault is signaled
when a traversing block is started.
6 SET_O
7 RESET_O
An output signal can be set or reset using these commands.
P0086:x (command parameter) is used to specify which output terminal or which
status bit is to be controlled.
P0086:x = 1 ––> Output with Fct. No. 80 (direct output 1 via traversing block)
P0086:x = 2 ––> Output with Fct. No. 81 (direct output 2 via traversing block)
P0086:x = 3 ––> Output with Fct. Nos. 80 and 81 are controlled
P0086:x = 1 ––> status bit ”direct output 1 via traversing block”
P0086:x = 2 ––> status bit ”direct output 2 via traversing block”
P0086:x = 3 ––> both status bits are controlled
Note:
The function numbers for the outputs and the PROFIBUS bits are listed in the list of
output signals (refer to Chapter 6.4.6) under ”Output signal, direct output 1/2 via
traversing block”.
The output signals, influenced using SET_O or RESET_O remain ”frozen”, when a
fault develops, when a traversing block is interrupted, or at the end of the program.
This means, that the signals are exclusively influenced using the SET_O/RESET_O
commands. When starting or exiting the program, the output signals may possibly
have to be ”programmed” in an initial status.
6 Description of the Functions
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