Configuring Drive-Integrated Retraction (Esrs) - Siemens Sinumerik 840D sl Programming Manual

Additional functions
14.12 Drive-integrated extended stop and retract (ESR)
14.12.2

Configuring drive-integrated retraction (ESRS)

Function
The drive parameters for "retraction" of the drive-integrated ESR function are configured
using the ESRR(...) function.
Syntax
ESRR(<axis_1>,<retraction distance_1>,<retraction
velocity_1>[,...,<axis_n>,<retraction distance_n>,<retraction
velocity_n>])
Significance
ESRR(...):
<axis_1>,
...,
<axis_n>:
<retraction
distance_1>,
...,
<retraction
distance_n>:
722
Function to write to the drive parameters for the ESR function
"retract".
The function:
• must be alone in the block
• triggers a preprocessing stop
• cannot be used in synchronized actions
Axis, for which drive-integrated retraction should be configured.
For this axis, drive parameter p0888 (configuration) is written to
in the drive:
p0888 = 2
Type: AXIS
Range of Channel axis identifier
values:
For the drive, the retraction distance is converted into a
retraction speed. For the specified axis, the value is written to
drive parameter p0893 (speed):
p0893 = (<retraction distance _n> converted into retraction
speed)
Unit: mm/min, inch/min, degrees/min (depending on
the unit of the axis)
Type: REAL
Range of MIN - MAX
values:
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
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