Initial situation
•
$AA_ESR_ ENABLE[X] = 1
•
$AA_ESR_ ENABLE[B] = 0
• POLFMASK(X)
•
Program traversing motion: X and B
•
$AA_ESR_ ENABLE[X] = 1
•
$AA_ESR_ ENABLE[B] = 1
• POLFMASK(X)
•
Program traversing motion: X and B
6.2.10.2
POWER OFF/POWER ON
If the user-specific retraction logic is programmed within motion synchronized actions, then it
must be observed that this is still not active when the control boots (POWER ON). A retraction
logic, which should be active after POWER ON, must therefore lie in an ASUB started from
the PLC or must be called event-controlled.
References
For detailed information about event-driven program calls see:
•
Function Manual, Basic Functions; Mode Group, Channel, Program Operation, Reset
Response (K1),Chapter: "Eventdriven program calls"
6.2.10.3
Operating mode change, NC Stop, reset
Static synchronized actions (keyword IDS) can be used for user-specific retraction logic as
the following system states or state change have no influence on this:
•
Operating mode change, e.g. DB11 DBX0.0 (AUTOMATIC)
•
NC stop, e.g. DB21, ... DBX7.3 (NC stop)
•
Reset, e.g. DB21, ... DBX7.7 (reset)
Note
NC stop and command axes
Traversing of command axes is interrupted for an NC stop.
Note
Reset and program commands POLF / POLFMASK
For reset, the programmed absolute retraction positions (POLF) and the enable signals for
the retraction axes (POLFMASK) are not deleted.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Response in the case of ESR
B is not enabled for ESR. As B is not a path axis, B is immediately stopped
with a rapid stop.
X executes retraction motion.
B is not enabled for retraction (POLFMASK). However, as B is enabled for
ESR, for B, the ESR response is implicitly changed to 22 (stopping). This is
the reason that B continues to traverse corresponding to the programmed
traversing motion.
Y executes retraction motion.
After the delay time for ESR axes expires, MD21380,
$MC_ESR_DELAY_TIME1, B is stopped with axial acceleration.
R3: Extended stop and retract
6.2 Control-managed ESR
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