Siemens SINUMERIK 840D Function Manual page 625

Meaning
ESRR:
<axis_n>:
<retraction
velocity_n>:
<retraction
distance_n>:
Note
Retraction speed
It should be ensured that the drive can reach the programmed retraction speed (see
parameters <retraction velocity_n>) within the retraction time (see parameter <retraction
distance _n>). The settings in the following drive parameters should be checked:
● p1082[0...n] (maximum speed)
● p1135[0...n] (OFF3 ramp-down time)
Retraction path
The conversion of the retraction path into a retraction duration for drive parameter p0892 is
performed under the assumption that the retraction motion is triggered at axis standstill (see
"Figure 16-3 Configuring_drive_integrated_generator_operation (Page 620)").
If retraction motion is triggered while the axis is traversing, the actually traversed retraction
distance differs from the programmed retraction distance due to the fact that traversing motion
is superimposed on the retraction motion.
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
Using the function, drive parameters can be changed regarding the drive-au‐
tonomous "retract" ESR function.
Special situations:
● Must be alone in the block
● Triggers a preprocessing stop
● Cannot be used in synchronized actions
● A maximum of five axes can be programmed per function call; n = 5
For the specified axis, writes to drive parameter p0888 (configuration): p0888
= 2
Data type: AXIS
Range of values: Channel axis name
For the axis specified under <Axis_n>, writes to drive parameter p0893 (re‐
traction speed):
p0893 = (<retraction velocity> based on the currently effective total transmis‐
sion ratio converted into the corresponding retraction speed)
Unit: mm/min, inch/min, degrees/min (depending on the unit of
the axis)
Data type: REAL
Range of values: 0.00 - MAX
For the axis specified under <Axis_n>, writes to drive parameter p0892 (re‐
traction time):
p0892 = <retraction distance_n> / <retraction velocity _n>
Unit: mm, inches, degrees (depending on the unit of the axis)
Data type: REAL
Range of values: MIN - MAX
R3: Extended stop and retract
16.2 ESR executed autonomously in the drive
625