Siemens SINUMERIK 840D sl Function Manual page 368

R3: Extended stop and retract
6.2 Control-managed ESR
Precondition
The precondition in this case is that at least one of the axes involved is parameterized as NC
controlled retraction or stopping axis: MD37500 $MA_ESR_REACTION > 20
For axes, which are not parameterized as NC controlled retraction or stopping axis, fast
braking with subsequent tracking is realized immediately that extended stopping starts
($AC_ESR_TRIGGER = 1).
Processing of all commands, especially those that result in an axis stop (e.g. Reset, Stop,
Stopall), as well as the standard alarm responses STOPBYALARM and NOREADY, is
delayed by the sum of the parameterized times:
Delay time = MD21380 $MC_ESR_DELAY_TIME1 + MD21381 $MC_ESR_DELAY_TIME2
An NC controlled stop is also active in conjunction with the "Electronic gearbox" function (see
Chapter "Electronic gearbox (EG) [Page 247]"). It contains the (selective) switchover of the
electronic gearbox to actual value coupling if there is a fault on the leading axes, and also
maintains traversing motion and the enable signals during the delay time for ESR axes:
MD21380 $MC_ESR_DELAY_TIME1
NC-controlled extended stopping and path axes
If NC controlled extended stopping (MD37500 $MA_ESR_REACTION = 22) is parameterized
for a path axis, then the behavior is transferred to all path axes of the channel.
NC-controlled extended stopping and leading axes
If NC controlled extended stopping (MD37500 $MA_ESR_REACTION = 22) is parameterized
for a leading axis, then the behavior is transferred to all following axes of the channel.
Note
A following axis of the electronic gearbox follows the leading axis during both phases of the
extended stop according to the motion rule, i.e. no independent braking is possible on
transition from machine data phase MD21380 $MC_DELAY_TIME1 to machine data phase
MD21381 $MC_ESR_DELAY_TIME2.
In order for ESR to function correctly, the enable signals must be set and remain set.
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions