Esr Is Enabled Via System Variable; Triggering Esr Via System Variable; Feedback Of The Esr Status - Siemens SINUMERIK 840D Function Manual

16.2.5

ESR is enabled via system variable

The ESR response of an axis, configured via drive parameter, must be programmed on a user-
specific basis in a part program/synchronized action using the following axis-specific system
variable:
$AA_ESR_ENABLE[<axis>]
Value Meaning
1
0
16.2.6

Triggering ESR via system variable

Triggering ESR responses, configured via drive parameter and enabled via
$AA_ESR_ENABLE[<axis>], must be programmed on a user-specific basis in a part program/
synchronized action via the following NC-specific system variable:
$AN_ESR_TRIGGER
Value Meaning
1
0
Note
The trigger signal must be active in the part program/synchronized action for at least 2 IPO
cycles to ensure that the PROFIdrive telegram is transferred to the drive.
Mapping in the drive unit
System variable $AN_ESR_TRIGGER is mapped to drive parameter p0890.0. Interconnecting
drive parameter p0890.0 with the corresponding information in telegram 390 or 391 to the
Control Unit is realized automatically when the drive unit commissions the ESR reactions.
Further information
For a detailed description of drive parameters, refer to:
SINAMICS S120/S150 List Manual
16.2.7

Feedback of the ESR status

The drive signals back the actual ESR status to the control using the message word (MELDW)
of the cyclic PROFIdrive telegram. In the PLC, the status can be read via system variables and
NC/PLC interface signals.
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
ESR responses enabled in the drive
ESR responses inhibited in the drive
trigger drive-integrated ESR reactions that have been released
do not trigger drive-integrated ESR reactions that have been released
R3: Extended stop and retract
16.2 ESR executed autonomously in the drive
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