Efficient Networks S120 Intermediate stop and reject traversing task, 0101, Continueexternalalarm

Function modules 7.9 Basic positioner

the next task at any time during the traveling phase. If "External block change" is not triggered, the axis remains in the parameterized target position until the signal is issued. The difference here is that with CONTINUE_EXTERNAL, a flying changeover is carried out at the braking point if "External block change" has not been triggered, while here the drive waits for the signal in the target position.

0101, CONTINUE_EXTERNAL_ALARM

This is the same as CONTINUE_EXTERNAL_WAIT, except that alarm A07463 "External traversing block change in traversing block x not requested" is output when "External block change" is not triggered by the time the drive comes to a standstill. The alarm can be converted to an alarm with a stop response so that block processing can be aborted if the control signal is not issued.

–cccc: positioning mode

With the POSITON task (p2621 = 1), defines how the position specified in the traversing task is to be approached.

0000, ABSOLUTE:

The position specified in p2617 is approached. 0001, RELATIVE:

The axis is traveled along the value specified in p2617. 0010, ABS_POS:

For rotary axes with modulo offset only. The position specified in p2617 is approached in a positive direction.

0011, ABS_NEG:

For rotary axes with modulo offset only. The position specified in p2617 is approached in a negative direction.

●Task parameter (command-dependent significance) (p2622[0...63])

Intermediate stop and reject traversing task

The intermediate stop is activated when a 0 signal at p2640. After activation, the system brakes with the parameterized deceleration value (p2620 or p2645).

The current traversing task can be canceled by a 0 signal at p2641. After activation, the system brakes with the maximum deceleration (p2573).

The "intermediate stop" and "cancel traversing task" functions are only effective in the modes "traversing blocks" and "direct setpoint input/MDI".

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] Acceleration 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

Drive Functions	269
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4