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
16.11.2.2

Configuring drive-integrated retraction (ESRS)

Function
The drive parameters for "retraction" of the drive-integrated ESR function are configured
using the
Syntax
ESRR(<axis_1>,<retraction distance_1>,<retraction
velocity_1>[,...,<axis_n>,<retraction distance_n>,<retraction velocity_n>])
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
: Function to write to the drive parameters for the ESR function
"stopping"
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:
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:
Type:
Range of values: 0.00 - 20.00
function.
ESRR(...)
16.11 Extended stop and retract (ESR)
AXIS
s
REAL
Additional functions
623