Extended Stop And Retract - Siemens SINAMICS S120 Function Manual

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Function modules

9.11 Extended stop and retract

Extended stop and retract

Function description

The "extended stop and retract" function module (ESR) allows a workpiece and tool to be

separated without causing any damage when a fault situation occurs. The drive axes involved

are defined and are retracted and/or stopped in a controlled fashion. For this function, the drives

must be operated with servo control.

The drive-integrated ESR functions are described in this manual:

● Extended stopping of the drive

● Extended retraction of the drive

● Generator operation with monitoring to buffer the DC link voltage

ESR functions can be initiated from the higher-level controller using a trigger signal, or

independently in the drives themselves in the event of a fault (the function is integrated in the

drive). The ESR functions integrated in the drive act on an axis-for-axis basis.

● Using an axis-specific trigger, ESR functions are directly initiated for an individual axis.

● Using a local trigger on the device itself, the ESR functions are simultaneously initiated for

those axes under the drive line that are activated for ESR.

ESR functionality under Safety Integrated Functions

If extended stop and retract are to activated simultaneously with Safety Integrated Functions,

the following conditions must also be satisfied. Further information can be found in the

SINAMICS S120 Function Manual Safety Integrated.

For a machine tool, several drives are simultaneously operational, e.g. a workpiece drive and

various feed drives for a tool. In the case of a fault, it is not permissible that the tool remains

inserted in the workpiece. This could make both unusable. The tool and workpiece must be

separated from one another in a controlled fashion before the drives are allowed to come to a

The "extended stop and retract" function module allows drive-integrated retraction using the

feed drives with subsequent stopping. This means, for example when the line supply fails, a

drive can be switched into the generator mode. This then supplies energy for the DC link so that

the feed drives can retract the tool from the workpiece and then be subsequently stopped.

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

Drive functions