Fig. 2-109 3625 – Mode control (r0108.4 = 1)
Direct setpoint input mode [3620]
- 3625 -
Function diagram
87654321
fp_3625_98_eng.vsd
DO: SERVO
SINAMICS S110
04.04.08 V04.04.00
EPOS - Mode control (r0108.4 = 1)
POWER ON
Initial state
“Target position reached“ r2684.10 = 1
“Axis stationary“ r2199.0 = 1
Jog mode
[3610]
r2684.10 = 0
r2199.0 = 0
Ref. point approach mode
[3612]
Traversing block
mode
[3616]
Intermediate
stop r2199.0 = 1
Traversing blocks
active
r2684.10 = 0 / r2199.0 = 0
and 0/1 at r2684.12
Ramp stop
r2684.10 = 0 / r2199.0 = 0
Ramp down the drive
depending on the
deceleration rate of the
traversing block
&
"Intermediate stop"
p2640 = 0
"No intermediate stop"
p2640 = 1
"Jog 1 src" p2589 = 1
"Jog 2 src" p2590 = 1
"Jog 1 src" p2589 = 0
"Jog 2 src" p2590 = 0
Ramp stop
r2684.10 = 0 / r2199.0 = 0
r2669: no change
The drive is ramped down with the
maximum deceleration rate (p2573)
"Reject traversing task"
p2641 = 0
Drive at standstill
4000.00 μs
&
"Start referencing" p2595 = 0/1
"Select reference type" p2597 = 0
"Stop referencing"
p2595 = 0
Reference point approach active:
r2684.10/11 = 1, r2199.0 = 1
r2684.10/11 = 0, r2199.0 = 0
Referenced
Reference point approach completed:
"Do not reject traversing task" p2641 = 1
"No intermediate stop" p2640 = 1
"Activate traversing task" p2631 = 0/1
"Activate traversing task"
p2631 = 0/1
"Direct setpoint input" p2647 = 0
Direct setpoint input/MDI active
r2670.15
1
1
&
"Do not reject traversing task" p2641 = 1
"No intermediate stop" p2640 = 1
"MDI selection" p2647 = 1
Intermediate stop
r2199.0 = 1
Traversing blocks active
r2684.10 = 0 / r2199.0 = 0
Flying changeover between
positioning p2653 = 0 and setting-up
p2653 = 1 possible
Ramp stop
r2684.10 = 0 / r2199.0 = 0
The drive is ramped down
depending on the deceleration
rate of the traversing block
"Intermediate
stop" p2640 = 0
"No intermediate stop" p2640 = 1
Drive at standstill
MDI/initial state
no task for MDI active
r2684.10 = 1 / r2199.0 =1
Ramp stop
r2684.10 = 0 / r2199.0 = 0
The drive is ramped down
depend. on the maximum
deceleration (p2573)
"Reject traversing task"
p2641 = 0
Drive at standstill
"Activate traversing task"
(p2649 = 0 and p2650 = 0/1) or
continuous transfer (p2649 = 1 and
signal off CI: p2642 (old <> new ))
"Do not reject traversing task" p2641 = 1
"No intermediate stop" p2640 = 1
Continuous transfer p2649 = 1 and
r2665 <> Signal off CI: p2642
"Activate traversing task" p2649 = 0 and p2650 = 0/1
Traversing task
completed
"Traversing task
completed“
<1> The more points exist at a transition, the higher the priority.
S4: Operation (run) ZSWA.00/01/02/11 = 1, ZSWA.06 = 0 [2610]
1
&
&
&
1
Drive at standstill
<1>
r2669 = 0 hex
r2669 = 1 hex
r2669 = 4 hex
r2669 = 2 hex
Positioning/setting-up, r2669 = 8 hex/10 hex
r2684.15 = 1
r2684.15 = 1
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