• ENDLESS POS, ENDLESS NEG
Using these t
asks, the axis is accelerated to the specied velocity and is moved until:
– A software limit switch is reached.
– A hardware limit switch signal has been issued.
– The traversing range limit is reached.
– Motion is interrupted by the control signal "no intermediate stop / intermediate stop"
(STW1.5).
– Motion is interrupted by the control signal "do not reject traversing task / reject traversing
task" (STW1.4).
– An external block change is triggered (with the appropriate continuation condition).
The following parameters are relevant:
– p2618[x] Velocity
– p2619[x] Acceleration override
– p2623[x] Task mode
All continuation conditions are possible.
• JERK
Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter =
0) by means of the JERK task. p2575 "Active jerk limitation" must be set to zero. The value
parameterized in "jerk limit" p2574 is the jerk limit.
A precise stop is always carried out here regardless of the parameterized continuation
condition of the task preceding the JERK task.
The following parameters are relevant:
– p2622[x] Task parameter = 0 or 1
All continuation conditions are possible.
• WAIT
The WAIT task can be used to set a waiting period which should expire before the following
task is processed.
The following parameters are relevant:
– p2622[x] Task parameter = delay time in milliseconds ≥ 0 ms, but is rounded-o to a
multiple of numeral 8
– p2623[x] Task mode
Regardless of the parameterized continuation condition which is parameterized for the task
that precedes the WAIT task, an exact stop is always executed before the waiting time expires.
The WAIT task can be executed by an external block change.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT, and CONTINUE_EXTERNAL_ALARM.
The fault message is triggered when "External block change" has still not been issued after
the waiting time has elapsed.
Functions
10.6Basic positioner (EPOS)
SINAMICS S200 PROFINET servo drive system with SIMOTICS S-1FL2
Operating Instructions, 11/2023, FW V6.3, A5E51646752B AB 387
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