Configuring Drive-Integrated Retraction (Esrs) - Siemens SINUMERIK 840D sl Programming Manual

Meaning
ESRS(...):
<axis_1>,
...,
<axis_n>:
<stopping time_1>,
...,
<stopping time_n>:
A maximum of 5 axes can be programmed in a function call; n = 5
3.21.2.2

Configuring drive-integrated retraction (ESRS)

The drive parameters for "retraction" of the drive-integrated ESR function are configured using
the ESRR(...) function.
Syntax
ESRR(<axis_1>,<retraction distance_1>,<retraction
velocity_1>[,...,<axis_n>,<retraction distance_n>,<retraction
velocity_n>])
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Function to write to the drive parameters for the ESR function "stop‐
ping"
The function:
● Must be alone in the block.
● Triggers a preprocessing stop.
● Cannot be used in synchronized actions.
Axis for which drive-integrated stopping should be configured
For this axis, drive parameter p0888 (configuration) is written to in the
drive:
p0888 = 1
Type: AXIS
Range of values: Channel axis identifier
Time during which the drive continues to travel with the actual speed
setpoint after a fault has occurred
For the specified axis, drive parameter p0892 (timer) is written to in the
drive:
p0892 = <stopping time>
Unit: s
Type: REAL
Range of values: 0.00 - 20.00
Work preparation
3.21 Extended stop and retract (ESR)
981