Stopping (Esrs); Retraction (Esrr) - Siemens SINUMERIK 840D Function Manual

R3: Extended stop and retract
16.2 ESR executed autonomously in the drive
16.2.9.1

Stopping (ESRS)

Syntax
ESRS(<access_1>,<stopping time_1>[,...,<axis_n>,<stopping time_n>])
Meaning
ESRS:
<axis_n>:
<stopping
time_n>:
16.2.9.2

Retraction (ESRR)

Syntax
ESRR(<axis_1>,<retraction distance_1>,<retraction
velocity_1>[,...,<axis_n>,<retraction distance_n>,<retraction
velocity_n>])
624
Using the function, drive parameters can be changed regarding the drive-au‐
tonomous "stop" ESR function.
Special situations:
● Must be alone in the block
● Triggers a preprocessing stop
● Cannot be used in synchronized actions
● A maximum of five axes can be programmed per function call; n = 5
For the specified axis, writes to drive parameter p0888 (configuration): p0888
= 1
Data type: AXIS
Range of values: Channel axis name
For the axis specified under <Axis_n>, writes to drive parameter p0892 (tim‐
er): P0892 = <stopping time_n>
Unit: s
Data type: REAL
Range of values: 0.00 - 20.00
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA