Siemens SINAMICS S150 NEMA, Operating Instructions Manual, Page: 684 / 862

Functions, monitoring and protective functions
9.4 Extended functions
Enclosed Drives
682
Operating Instructions, 12/2018, A5E36652151A
WAITING
The WAIT task can be used to define a waiting period which should expire before the next
task is executed.
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:
● Delay time: 9 ms
● Interpolation cycle: 4 ms
● Effective delay time: 12 ms
A precise stop is always carried out there before the wait time, regardless of the parameter-
ized continuation condition of the order preceding the WAIT task. 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 or fault is triggered when "External block
change" has still not been issued after the delay 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. No continuation
conditions are permitted. 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 task number
Any two of the tasks SET_O, RESET_O and GOTO can be processed in an interpolation
cycle and a subsequent POSITION and WAIT task can be started.