Drive-Independent Stopping - Siemens SINUMERIK 840D sl Programming Manual

13.7.5

Drive-independent stopping

Function
The drives of a previously coupled grouping can be stopped by means of time-controlled
cutout delay with minimum deviations from each other, if this cannot be performed by the
control.
Drive-independent stop is configured and enabled via MD (delay time T1 in MD) and is
enabled by system variable $AA_ESR_ENABLE and started with $AN_ESR_TRIGGER.
Responses
The speed setpoint currently active as the error occurred will continue to be output for time
period T1. This is an attempt to maintain the motion that was active before the failure, until
the physical contact is annulled or the retraction movement initiated in other drives is
completed. This can be useful for all leading/following drives or for the drives that are
coupled or in a group.
After time T1, all axes with speed setpoint feedforward zero are stopped at the current limit,
and the pulses are deleted when zero speed is reached or when the time has expired
(+drive MD).
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Additional functions
13.7 Extended stop and retract
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