Configuring Stopping In The Drive - Siemens SINUMERIK 840D Function Manual

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R3: Extended stop and retract

16.2 ESR executed autonomously in the drive

The drive-autonomous responses are automatically initiated in error situations. The triggering

of the drive-autonomous responses can also be realized user-specific via the part programs or

synchronized actions from the higher-level control system.

As the stopping and retraction motion of the drive-autonomous ESR are purely axis-specific, in

contrast to control-managed ESR, couplings are not taken into account.

ESR executed autonomously in the drive can also be used in combination with control-

managed ESR. This also allows stopping and retraction motion in the drives if they are no

longer specified from the control, e.g. as a result of a communication failure.

For possibly occurring DRIVE-CLiQ errors, in order to keep the reaction to the functions of the

drive-autonomous ESR as low as possible, within the scope of ESR, we recommend that the

motor modules involved are not connected through a line-type topology, but instead are directly

connected to the Control Unit (CU).

Requirements

The following conditions must be fulfilled:

● SINAMICS and SINUMERIK software version: ≥ V4.4

● Servo drive object, PROFIdrive telegram: 102 - 199

● Servo drive object, function module "ESR" active

The function module "Extended stop and retract (ESR)" must be activated via the drive

wizard of SINUMERIK Operate. For a description of the drive wizard, see: SINUMERIK

Operate online help.

● Servo drive object, generator operation (Vdc control) active in a drive

● Control unit drive object, PROFIdrive telegram: 390, 391

● The 24 V power supply for the modules is buffered via CSM or UPS

Configuring stopping in the drive

Drive integrated shutdown is configured via the following drive parameters:

ESR: Configuration

Extended stopping (function integrated in the drive)

Axes and spindles

Function Manual, 06/2019, A5E47437747B AA

Sinumerik 840d sl