Nc-Controlled Stopping - Siemens SINUMERIK 840D sl Programming Manual

The sum of the MD21380 $MC_ESR_DELAY_TIME1 and MD21381
$MC_ESR_DELAY_TIME2 times is the maximum available for the retraction. When this time
has expired, rapid deceleration with follow-up is also initiated for the retraction axis.
Note
The extended retraction (i.e. LIFTFAST/LFPOS triggered by $AC_ESR_TRIGGER) cannot be
interrupted and can only be terminated prematurely via an emergency stop.
Note
Retraction initiated via $AC_ESR_TRIGGER is locked, in order to prevent multiple retractions.
Single axis retraction
With single axis retraction, the retraction position of the single axis must have been
programmed with POLFA and the following conditions must be satisfied:
● $AA_ESR_ENABLE = 1
● <Axis> must be a single axis at the time of triggering ($AAAA_ESR_TRIGGER = 1).
● <Type> must be either 1 or 2.
Retraction direction during rapid lift
The frame valid at the time when the lift fast is activated is taken into consideration.
Note
Frames with rotation also affect the direction of lift via POLF.
Axis replacement
Retraction axes must always be assigned to exactly one NC channel and may not be switched
among the channels. When an attempt is made to exchange a retraction axis in another
channel, an alarm is output. Only once this axis has been deactivated again using
$AA_ESR_ENABLE[AX] = 0 can it be exchanged in a new channel. Once the axis has been
exchanged, axes can be acted upon again with $AA_ESR_ENABLE[AX] = 1.
Neutral axes
Neutral axes cannot undertake NC-controlled ESR.
3.21.1.2

NC-controlled stopping

The NC-controlled stopping is activated for the stopping axes configured in the channel by
setting system variable $AC_ESR_TRIGGER (or $AA_ESR_TRIGGER for single axes).
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Work preparation
3.21 Extended stop and retract (ESR)
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