Siemens SINUMERIK 840D sl Programming Manual page 624

Additional functions
16.11 Extended stop and retract (ESR)
Meaning
ESRR(...)
<axis_1>,
...,
<axis_n>
<retraction distance_1>,
...,
<retraction distance_n>
<retraction
velocity_1>,
...,
<retraction
velocity_n>
A maximum of 5 axes can be programmed in a function call; n = 5
624
: Function to write to the drive parameters for the ESR function
"retract"
The function:
 Must be alone in the block.
 Triggers a preprocessing stop.
 Cannot be used in synchronized actions.
Axis for which drive-integrated retraction should be
: configured
For this axis, drive parameter p0888 (configuration) is written
to in the drive:
p0888 = 2
Type:
Range of values: Channel axis identifier
For the drive, the retraction distance is converted into a
retraction speed. For the specified axis, the value is written to
:
drive parameter p0893 (speed):
p0893 = (<retraction distance _n> converted into retraction
speed)
Unit:
Type:
Range of values: MIN - MAX
For the drive, the retraction velocity is converted into a time.
For the specified axis, the value is written to drive parameter
p0892 (timer) [s]:
:
p0892 = <retraction distance_n> / <retraction velocity _n>
Unit:
Type:
Range of values: 0.00 - MAX
AXIS
mm/min, inch/min, degrees/min
(depending on the unit of the axis)
REAL
mm/min, inch/min, degrees/min
(depending on the unit of the axis)
REAL
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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