Configuring Esr In The Part Program - Siemens SINUMERIK 840D Function Manual

System variable and drive parameters
The following diagram shows the relationship between system variables and drive parameters
when triggering and acknowledging ESR reactions.
①
②
③
④
Black: At instant in time
⑤
⑥
Red: At instant in time
⑤
⑥
Figure 16-4
16.2.9

Configuring ESR in the part program

Configuring drive-autonomous ESR functions "stop" and "retract" can be changed using the
commands from the part program described in the following.
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
NC: Enabling the ESR reaction via $AA_ESR_ENABLE = 1 (axis-specific)
NC: Triggering ESR responses via $AN_ESR_TRIGGER = 1
Drive: The triggering of the ESR reaction has been detected (CU_STW.2 == 1) ⇒
r0887.12 = 1 AND r0887.13 = 1
Feedback signal to the NC via $AA_ESR_STAT.BIT2 = 1 (axis-specific)
NC: Acknowledging the ESR reaction via $AA_ESR_ENABLE = 0 (axis-specific)
④
, the ESR reaction no longer runs (r0887.13 == 0) ⇒
Drive: Reset "ESR triggered": r0887.12 = 0
Feedback signal to the NC via $AA_ESR_STAT.BIT2 = 0 (axis-specific)
NC: The ESR reaction can be re-enabled ⇒
$AA_ESR_ENABLE = 1 AND $AN_ESR_TRIGGER = 0
④
, the ESR reaction still runs (r0887.13 == 1) ⇒
Drive: "ESR initiated" is only reset (r0887.12 = 0), if the ESR response in the drive has been
completed: r0887.13 == 0
Feedback signal to the NC via $AA_ESR_STAT.BIT2 = 0 (axis-specific)
⑥
See above
Sequence: Trigger and acknowledge drive-integrated ESR reactions
R3: Extended stop and retract
16.2 ESR executed autonomously in the drive
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