Esr Executed Autonomously In The Drive; Fundamentals - Siemens SINUMERIK 840D sl Function Manual

R3: Extended stop and retract

9.3 ESR executed autonomously in the drive

9.3 ESR executed autonomously in the drive
9.3.1

Fundamentals

Function
Drive-autonomous extended stop and retract (ESR) enables the fast separation of workpiece
and tool independent of the higher-level control (NC).
For this purpose, the following axial functions can be configured in the drive:
● Generator operation
● Extended stop
● Retract
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 axial, 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.
Note
DRIVE-CLiQ
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).
Link axes
The "Drive-autonomous extended stop and retract (ESR)" function cannot be used in
conjunction with link axes.
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
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions