Esr Executed Autonomously In The Drive; Fundamentals - Siemens SINUMERIK 840D sl Function Manual

6.3

ESR executed autonomously in the drive

6.3.1

Fundamentals

Function
Drive-integrated extended stop and retract (ESR) enables the fast separation of workpiece
and tool independent of the higher-level control (NC).
For this purpose, the following axial functions can be configured in the drive:
• Generator operation
• Extended stop
• Retract
The drive-integrated responses are automatically initiated in error situations. The triggering of
the drive-integrated responses can also be realized user-specific via the part programs or
synchronized actions from the higher-level control system.
As the stopping and retraction motion of the drive-integrated ESR are purely axial, in contrast
to control-managed ESR, couplings are not taken into account.
ESR executed autonomously in the drive can also be used in combination with control-
managed ESR. This also allows stopping and retraction motion in the drives if they are no
longer specified from the control, e.g. as a result of a communication failure.
Note
Drive CLiQ
For possibly occurring DRIVE-CliQ errors, in order to keep the reaction to the functions of the
drive-integrated ESR as low as possible, within the scope of ESR, we recommend that the
motor modules involved are not connected through a line-type topology, but instead are
directly connected to the Control Unit (CU).
Link axes
The "Drive-integrated extended stop and retract (ESR)" function cannot be used in
conjunction with link axes.
Preconditions
The following conditions must be fulfilled:
• SINAMICS and SINUMERIK software version: At least V4.4
• PROFIdrive axis telegrams: 101 - 199
• PROFIdrive Control Unit telegrams 390, 391
• Function module "ESR" active (p0108.9 = 1, r0108.9 == 1)
• Vdc control is active in one of the drives
• The 24 V power supply for the modules is buffered via CSM or UPS
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
R3: Extended stop and retract
6.3 ESR executed autonomously in the drive
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