Efficient Networks S120 manual Waiting

Function modules 7.9 Basic positioner

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:

●p2616[x] Block number

●p2622[x] Task parameter = 0 or 1 All continuation conditions are possible.

WAITING

The WAIT order can be used to set a waiting period, which should expire before the following order is processed.

The following parameters are relevant:

●p2616[x] Block number

●p2622[x]Task parameter = delay time in milliseconds ≥ 0 ms

●p2623[x] Task mode

The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator clock cycles p0115[5]. The minimum delay time is one interpolation clock cycle; this means that if a delay time is parameterized, which is less than an interpolation clock cycle, then the system waits for one interpolation clock cycle.

Example:

Wait time: 9 ms

Interpolation clock cycle: 4 ms

Active waiting time: 12 ms

A precise stop is always carried out here before the wait time regardless of the parameterized continuation condition of the order preceding the WAIT order. 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 alarm is triggered when "External block change" has still not been issued after the waiting time has elapsed.

GOTO

Using the GOTO task, jumps can be executed within a sequence of traversing tasks. The block number which is to be jumped to must be specified as task parameter. A continuation condition is not permissible. If there is a block with this number, then alarm A07468 (jump destination does not exist in traversing block x) is output and the block is designated as being inconsistent.

The following parameters are relevant:

●p2616[x] Block number

●p2622[x] Task parameter = Next traversing block number

Any two of the SET_O, RESET_O and GOTO orders can be processed in an interpolation cycle and a subsequent POSITION and WAIT order can be started.

Drive Functions	271
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4