Drive-Integrated Esr; Configuring Drive-Integrated Stopping (Esrs) - Siemens SINUMERIK 840D sl Programming Manual

Additional functions
16.11 Extended stop and retract (ESR)
Requirements
● A stopping axis is configured for the NC-controlled stopping in the channel:
● ESR must be must be enabled for this axis:
● Delay times are defined:
Outlet
This axis continues interpolating as programmed for the time duration set in MD21380: After
the time delay specified in MD21380 has expired, controlled braking (ramp stop) is initiated:
The time period in MD21381 is the maximum available for the interpolatory controlled
braking. After this period expires, fast braking with subsequent tracking is initiated.
Example
Stopping a single axis:
Program code
MD37500 $MC_ESR_REACTION[AX1] = 22
MD21380 $MC_ESR_DELAY_TIME1[AX1] = 0.3
MD21381 $MC_ESR_DELAY_TIME2[AX1] = 0.06
...
$AA_ESR_ENABLE[AX1]=1
$AA_ESR_TRIGGER[AX1]=1
16.11.2

Drive-integrated ESR

16.11.2.1

Configuring drive-integrated stopping (ESRS)

Function
The drive parameters for "stopping" of the drive-integrated ESR function are configured
using the
Syntax
ESRS(<access_1>,<stopping time_1>[,...,<axis_n>,<stopping time_n>])
622
MD37500 $MA_ESR_REACTION = 22
$AA_ESR_ENABLE = 1
MD21380 $MC_ESR_DELAY_TIME1 (delay time, ESR axes)
MD21381 $MC_ESR_DELAY_TIME2 (ESR time for interpolatory braking)
function.
ESRS(...)
Comment
; NC-controlled stopping.
; Stopping starts from here.
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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