Functions, monitoring, and protective functions
9.4 Extended functions
Drive converter cabinet units
Operating Instructions, 07/07, A5E00288214A
387
POSITIONING
The POSITIONING task initiates motion. The following parameters are evaluated:
● p2616[x]: Block Number
● p2617[x]: position
● p2618[x]: Velocity
● p2619[x]: Acceleration override
● p2620[x]: Deceleration override
● p2623[x]: Task mode
The task is executed until the target position is reached. If, when the task is activated, the
drive is already located at the target position, then for the block change enable
(CONTINUE_ON-THE-FLY or CONTINUE_EXTERNAL, 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. CONTINUE_EXTERNAL_ALARM causes a message to be
output immediately.
FIXED STOP
The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop.
The following parameters are relevant:
● p2616[x]: Block Number
● p2617[x]: position
● p2618[x]: Velocity
● p2619[x]: Acceleration override
● p2620[x]: Deceleration override
● p2623[x]: Task mode
● p2622[x]: Clamping torque in Nm task parameter with rotary motors.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.
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.
● 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).
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