Siemens SINUMERIK 840D sl Function Manual page 458

R3: Extended stop and retract
9.2 Control-managed ESR - 840D sl only
using the SINAMICS S120 "Vdc control" drive function. Even when the power fails, their kinetic
energy is used to maintain the DC link voltage in order to permit NC controlled retraction motion.
Note
Detailed information on the SINAMICS S120 drive function "Vdc control" can be found in:
References
Function Manual SINAMICS S120 Drive Functions
NC-controlled responses
The function provides the following NC-controlled responses:
● "Extended stop"
Programmable, defined, delayed path-related stopping of traversing motion
● "Retraction"
Fastest possible retraction away from the machining plane to a safe retraction position to
separate the tool and workpiece
The responses are independent of each other. Retraction operations and temporary
continuation of axis couplings before stopping can be configured so that they are executed in
parallel from a time perspective. In this case, an axis in generator mode (Vdc control) can
maintain the DC link voltage.
Interaction of NC-controlled responses
The NC controlled responses are initiated via the channel-specific system variable
$AC_ESR_TRIGGER.
Using $AC_ESR_TRIGGER, interpolatory stopping along the path or contour is possible. The
NC-controlled retraction is performed in synchronism by the retraction axes in the channel.
For ESR-enabled axes, only precisely one channel may be assigned and it is not possible to
switch between channels.
For NC-controlled stopping, an existing traversing motion as well as an active electronic
coupling is maintained over an adjustable time (MD21380 $MC_ESR_DELAY_TIME1) even if
there is an alarm with motion stop. After the parameterized time has expired, the axis is braked
down to standstill along the programmed path.
In order to perform retraction outside the AUTOMATIC mode as well, triggering of this function
is linked to the system variable $AC_ESR_TRIGGER. Retraction initiated via
$AC_ESR_TRIGGER is locked, in order to prevent multiple retractions.
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions