Siemens sinumerik 840D sl Function Manual page 353

2.7.4 NC-controlled extended stop
Response
The schedule for extended stop is defined by the following two machine data:
MD21380 $MC_ESR_DELAY_TIME1
and
MD21381 $MC_ESR_DELAY_TIME2
This axis continues interpolating as programmed for the time duration set in the following
machine data:
MD21380 $MC_ESR_DELAY_TIME1
After the time delay specified in the following machine data has lapsed, controlled braking
(ramp stop) is initiated by interpolation:
MD21380 $MC_ESR_DELAY_TIME1
The maximum time available for the interpolatory controlled braking is specified in the
following machine data; after this time has lapsed, rapid deceleration with subsequent
tracking is initiated.
MD21381 $MC_ESR_DELAY_TIME2
This time schedule applies, if the following applies for at least one of the axes applied by the
NCU:
MD37500 $MA_ESR_REACTION > 20
If this condition is not met, the alarm reactions are not delayed. If no ESR is active in the
cycle, the above-mentioned alarm reactions are delayed by one IPO cycle (it takes one IPO
cycle to check whether ESR is active).
For all other axes not mentioned with the following machine data, accelerated braking with
subsequent tracking is initiated at the start of extended stop ($AC_ESR_TRIGGER = 1).
MD37500 $MA_ESR_REACTION = 0
Processing of all commands, especially those that result in an axis stop (e.g. RESET, Stop,
Stopall, StopByAlarm), as well as the standard alarm reactions STOPBYALARM and
NOREADY, is delayed by the total of times ESR_DELAY_TIME1 and ESR_DELAY_TIME2.
An NC-controlled stop interacts with the electronic gearbox (see Chapter "Electronic
Gearbox (EG)"). It contains the (selective) switchover of the electronic gearbox to actual
value coupling if there is a fault on the leading axes, and also upholds interpolation and
enables ("continue travel") during a time period, specified in the following machine data:
MD21380 $MC_ESR_DELAY_TIME1.
Special functions: Axis Couplings and ESR (M3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Detailed description
2.7 Extended stop and retract (ESR)
133