Fig. 2-105 3616 – Traversing block mode (r0108.4 = 1)
- 3616 -
Function diagram
87654321
fp_3616_98_eng.vsd
DO: SERVO
SINAMICS S110
04.04.08 V04.04.00
EPOS - Traversing block mode (r0108.4 = 1)
Start of traversing range
End of traversing range
0
1
0
&
100 %
100 %
Velocity
Motion variables
in
"traversing block"
mode
Acceleration override
Deceleration override
Position
+
Task
Task parameter
Block number
Trav_blk blk no
-1...63
p2616 [p2615-1] (-1)
Trav_blk task
1...8
p2621 [p2615-1] (1)
Trav_blk task_par
-2147483648...2147483647
p2622 [p2615-1] (0)
Trav_blk pos
-2147483648...2147483647 [LU]
p2617 [p2615-1] (0)
Trav_blk v
1...40000000 [1000 LU/min]
p2618 [p2615-1] (600)
Trav_blk a_over
1.0...100.0 [%]
p2619 [p2615-1] (100.0)
Trav_blk mode
0...65535
p2623 [p2615-1] (0)
Position
Velocity
Acceleration
override
Deceleration
override
Task mode
Trav_blk -a_over
1.0...100.0 [%]
p2620 [p2615-1] (100.0)
Parameter index 01
p2615
-1
...
0
1
Actual traversing block
p2631
Activate traversing task
x
y
Store
0
1
0
[3635.6]
p2657
Pos act/set val
Positioning
mode, relative
Task ENDLESS_POS or ENDLESS_NEG
Task ENDLESS_NEG
Trav_blk sort
p2624 (0)
<2>
r2674
r2673
r2672
r2671
r2677
r2675
r2676
<3>
<3>
<3>
<3>
<3>
<3>
r2678
<3>
Status signals
p2640
(0)
1 = No intermediate stop
0 = Intermediate stop
p2641
(0)
1 = Do not reject traversing task
0 = Reject traversing task
[3620.4]
[3620.1][3620.4]
+
0
1
0
1
0
1
<4>
[3630.1]
[3650.2]
0
4000.00 μs
A07461-A07472
A07483, A07485-A07487
F07484
r2686[0] Upper torque limiting effective [3617.7]
r2686[1] Lower torque limiting effective [3617.7]
Torque limits
<5>
r2687 Torque setpoint
[3615.7]
p2632
<1>
External block change
Signal source feedback signals
Direct output 1 via traversing block [3645.3]r2683.10
Direct output 2 via traversing block [3645.3]
r2683.11
Travel to fixed stop active [3645.3][3617.7]
r2683.13 Fixed stop clamping torque reached [3645.3][3617.4]
r2683.14
Acknowledgement, traversing block activated [3646.3]r2684.12
p2637
(2526.4)
p2638
(2526.5)
p2639
(1407.7)
p2663
(2526.8)
[3617.7]
[4025.8]
[3617.6]
[4025.8]
[2522.7]
[4025.8]
<3>
Fixed stop reached [3645.3][3617.7]
r2683.12
[3640.7]
p2625
p2626
p2627
p2628
p2629
p2630
[3640.7]
Block selection
<1> Evaluated only in the following cases:
Current job/traversing block and step enabling CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT,
CONTINUE_EXTERNAL_ALARM.
<2> The tasks are sorted according to their traversing block number in the parameter index (the task with the
lowest number in index 1).
<3> The connector outputs are only supplied from here when the “traversing blocks“ mode is active.
<4> p2615 specifies the maximum number of traversing blocks.
<5> Torque limits are only influenced by the "FIXED STOP" job. A value of 100 % is specified in all other cases.
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