Siemens SINUMERIK 840D sl Function Manual page 771

Examples
Extended stopping of a single axis:
MD37500 $MA_ESR_REACTION[AX1]=22
MD37510 $MA_AX_ESR_DELAY_TIME1[AX1]=0.3
MD37511 $MA_AX_ESR_DELAY_TIME2[AX1]=0.06
...
$AA_ESR_ENABLE[AX1] = 1
$AA_ESR_TRIGGER[AX1]=1 ; axis begins stop process here
Extended retraction of a single axis:
MD37500 $MA_ESR_REACTION[AX1]=21
...
$AA_ESR_ENABLE[AX1] = 1
POLFA(AX1, 1, 20.0); AX1 is assigned the axial retraction position 20.0 ; (absolute)
$AA_ESR_TRIGGER[AX1]=1 ; AX1 begins to retract here
POLFA(axis, type): permissible programming abbreviation
POLFA(axis, 0/1/2) ; quick deactivation/activation
If abbreviated notation is used and only the type is changed, make sure that the value for
the retraction position or retraction path in the application is meaningful!
The abbreviated notation should only be used in exceptional circumstances.
This particularly applies after:
A power on, the retraction path or the retraction position must be reset.
POLFA(axis, 1, $AA_POLFA[axis]) ; causes a preprocessing stop
POLFA(axis, 1); does not cause a preprocessing stop
Extended Functions
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
WARNING
11.3 Motion behavior and interpolation functions
Positioning Axes (P2)
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