Control-Managed Esr; Extended Stop And Retract (Esr) - Siemens SINUMERIK 840D sl Function Manual

R3: Extended stop and retract

6.2 Control-managed ESR

6.2 Control-managed ESR
6.2.1

Extended stop and retract (ESR)

Using the Extended stop/retract (ESR)" function, axes that have been enabled for the function
are stopped and retracted in a defined, delayed fashion. This is done to quickly separate the
tool and workpiece in certain programmable system states.
In order that the energy required for the retraction motion is available in the drives involved –
even when the power fails – then one or several drives can be parameterized as "generators"
using the SINAMICS S120 "Vdc control" drive function. Even when the power fails, their
kinetic energy is used to maintain the DC link voltage in order to permit NC controlled
retraction motion.
Note
Detailed information on the SINAMICS S120 drive function "Vdc control" can be found in:
References
Function Manual SINAMICS S120 Drive Functions
NC-controlled responses
The function provides the following NC-controlled responses:
• "Extended stop"
Programmable, defined, delayed path-related stopping of traversing motion
• "Retraction"
Fastest possible retraction away from the machining plane to a safe retraction position to
separate the tool and workpiece
The responses are independent of each other. Retraction operations and temporary
continuation of axis couplings before stopping can be configured so that they are executed in
parallel from a time perspective. In this case, an axis in generator mode (Vdc control) can
maintain the DC link voltage.
Interaction of NC-controlled responses
The NC controlled responses are initiated via the channel-specific system variable
$AC_ESR_TRIGGER.
Using $AC_ESR_TRIGGER, interpolatory stopping along the path or contour is possible. The
NC-controlled retraction is performed in synchronism by the retraction axes in the channel.
For ESR-enabled axes, only precisely one channel may be assigned and it is not possible to
switch between channels.
For NC-controlled stopping, an existing traversing motion as well as an active electronic
coupling is maintained over an adjustable time (MD21380 $MC_ESR_DELAY_TIME1) even if
there is an alarm with motion stop. After the parameterized time has expired, the axis is
braked down to standstill along the programmed path.
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions