Traversing block tasks
• POSITIONING
The POSITIONING task initiates mo
tion. 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. When the task is activated, the
converter is already located at the target position, then for the block change enable
(CONTINUE_ON-THE-FLY or CONTINUE_EXTERNAL), the next task is selected in the same
interpolation cycle. For CONTINUE_WITH_STOP, the next block is activated in the next
interpolation 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 xed 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] Task parameter clamping torque [0.01 Nm] with rotary motors.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.
Functions
10.6Basic positioner (EPOS)
SINAMICS S200 PROFINET servo drive system with SIMOTICS S-1FL2
386 Operating Instructions, 11/2023, FW V6.3, A5E51646752B AB
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