Boundary Conditions - Siemens SINUMERIK 840D Function Manual

R3: Extended stop and retract
16.2 ESR executed autonomously in the drive
Dependencies
The programmed values for the retraction path and the retraction velocity refer to the load side.
Before writing to the drive parameters these are converted over to the motor side. The
transmission ratio effective in the NC at the execution time is applicable for the conversion. If
the drive-autonomous ESR for an axis is enabled ($AA_ESR_ENABLE[<axis>] == 1), then it is
not permissible to change the axial transmission ratio.
Note
Changing the transmission ratio
If the drive-autonomous ESR is not enabled for an axis ($AA_ESR_ENABLE[<axis>] == 0),
then the axial transmission ratio can be changed. After the change, it is the sole responsibility
of the user/machine manufacturer to appropriately adapt the retraction distance and the
retraction velocity.
See also
Configuring generator operation in the drive (Page 619)
16.2.9.3

Boundary conditions

Description
Consistent parameter change
In order that the drive parameters are consistently effective, in the part program the drive-
autonomous ESR enable signals must be withdrawn before the functions ESRS(...) and
ESRR(...).
Example:
Program code
N100 $AA_ESR_ENABLE[X1]=0
N110 $AA_ESR_ENABLE[Z1]=0
N120 $AA_ESR_ENABLE[Y1]=0
N130 ESRR(X1,20.0,10000.0,Z1,-15.0,20000.0)
N140 ESRS(Y1,0.5,B1,0.5)
N150 $AA_ESR_ENABLE[X1]=1
N160 $AA_ESR_ENABLE[Z1]=1
N170 $AA_ESR_ENABLE[Y1]=1
When executing the functions ESRS(...) and ESRR(...) further execution of the part
program is stopped until writing to the drive parameters has been acknowledged. During this
time, the following message is used as feedback signal for the user: "Wait for drive parameters
from <Function>" is displayed.
626
Comment
;Withdraw ESR enable signals
;Change ESR parameters
;Set ESR enable signals
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA