6
6.2
Positioning mode (P0700 = 3, from SW 2.1)
6-419
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Table 6-38
Parameters used to program traversing blocks, continued
No.
Effective
Units
Max.
Standard
Min.
Name
0087:64
xXxx
Block change enable CONTINUE EXTERNAL (from SW 3.1)
This block change enable has the following properties:
For a traversing block with the block change enable CONTINUE EXTERNAL, a flying
block change is made if an edge of the input signal ”external block change” is identified. If
the deceleration override (P0084:64) differs between the current and the block which is to
be changed into flying, then a flying block change is made.
When using the commands SET_O and RESET_O, it is not possible to use the
block change enable CONTINUE EXTERNAL!
What happens, if...?
–
The following traversing block is programmed in the RELATIVE positioning mode
––> The programmed position refers to the actual value at the instant
that the external block change is requested
–
The braking travel is greater than the distance programmed in the following block
––> The axis is held at the parameterized deceleration ramp and then traverses
to the target position in the opposite direction.
–
A different behavior is necessary for ”external block change”?
Then the required behavior must be set in P0110:
P0110
= 0 (standard) ––> If the signal is not available up to the start of braking, then the axis
is stopped in front of the target position (dependent on: Acceleration, deceleration,
positioning
velocity) and fault 109 (external block change not requested in the block)
is output.
= 1 ––> If the signal is not present up to the start of braking, then a flying block
change is made
(refer to block change enable CONTINUE FLYING).
= 2 ––> The block is traversed, independent of the signal, to the end. The system only
waits for the signal at the end of the block; when the signal is detected, a block
change is executed.
= 3 (from SW 5.1) ––> if the signal is not present up to the end of the block, then the
axis waits for the signal and when the signal is identified, a block change is made.
Note:
When P0110 is changed, the change is not accepted after v_set=0, but
instead,
only after the end of the program when the traversing block is re–started.
–
The subsequent traversing block is programmed with the WAIT command?
After the signal edge has been detected, the position actual value is written into P0026,
and the axis is braked down to standstill with the programmed deceleration (P0104 +
deceleration override in P0084:64) and then the system waits. The other position data
refer to the block change position.
–
Does the acceleration override (P0083:64) or deceleration override (P0084:64) differ
between the actual (current) block and the following block to be changed into?
When the ”external block change” input signal is detected, the acceleration or decel-
eration override of the block, which is now current, becomes valid and is immediately
effective.
–
Was the deceleration changed during the braking ramp when positioning in absolute
terms?
––> a change is not accepted. Positioning is realized with the previously set
braking ramp (P0084 or P0094).
Note:
If P0110
2, then input terminal I0.x or I0.B may not be used as input, as, for these, the block
change can be initiated from different signal edges.
6 Description of the Functions
01.99
! not 611ue !
06.04
