Siemens SINUMERIK Series Function Manual page 614

P2: Positioning axes
10.3 Motion behavior and interpolation functions
Extended retract numerically controlled
For retracting single axes, the value must have been programmed via POLFA(axis, type,
value) and the following conditions must be met:
● The axis must be a single axis at the time of triggering
● $AA_ESR_ENABLE[axis]=1
● POLFA(axis, type, value) with type=1 or type=2 only
Note
NC-controlled extended stop for single axes:
The trigger is only effective if the axis is a single axis at the time of triggering, otherwise
the trigger is ignored and the axial stop for this axis is not executed.
NC-controlled extended retract for single axes:
The channel-specific NC-controlled extended retract function is not effective for single
axes. All axes that are single axes at the time of triggering $AC_ESR_TRIGGER will be
ignored for channel-specific retraction.
This also applies when all the parameters for retraction are set, such as:
MD37500 $MA_ESR_REACTION
$AA_ESR_ENABLE for the axis, etc.
Examples
Extended stopping of a single axis:
MD37500 $MA_ESR_REACTION[AX1]=22
MD37510 $MA_AX_ESR_DELAY_TIME1[AX1]=0.3
MD37511 $MA_AX_ESR_DELAY_TIME2[AX1]=0.06
...
$AA_ESR_ENABLE[AX1] = 1
$AA_ESR_TRIGGER[AX1]=1 ; axis begins to stop the process here
Extended retraction of a single axis:
MD37500 $MA_ESR_REACTION[AX1]=21
...
$AA_ESR_ENABLE[AX1] = 1
POLFA(AX1, 1, 20.0); AX1 is assigned the axial retraction position 20.0 ; (absolute)
$AA_ESR_TRIGGER[AX1]=1 ; AX1 begins to retract here
POLFA(axis, type): permissible programming abbreviation
614
POLFA(axis, value, axis, type, axis type).
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Extended Functions