Siemens SINUMERIK 840D sl Function Manual page 461

Time sequence
After initiating ESR, the axis continues to traverse with the actual speed. After a delay time
has expired (..._TIME1), the axis is braked, interpolating.
The set time (..._TIME 2) is the maximum time available for interpolatory braking. After this
time has expired, a setpoint of 0 is output for the axis, and the follow-up mode is activated.
T1
T2
n
1
n
2
Note
For safety reasons, the sum of T1 and T2 should not exceed a maximum value of approx. 1
second.
Precondition
To ensure that ESR is carried out, at least one of the axes involved in the movement must be
parameterized as an NC-controlled retraction or stopping axis: MD37500
$MA_ESR_REACTION > 20
For axes that are not parameterized as NC controlled retraction or stopping axis, fast braking
with subsequent tracking is realized immediately so that extended stopping starts
($AC_ESR_TRIGGER = 1).
Processing of all commands, especially those that result in an axis stop (e.g. Reset, Stop,
Stopall), as well as the standard alarm responses STOPBYALARM and NOREADY, is delayed
by the sum of the parameterized times:
Delay time = MD21380 $MC_ESR_DELAY_TIME1 + MD21381 $MC_ESR_DELAY_TIME2
An NC controlled stop is also active in conjunction with the "Electronic gearbox" function (see
Chapter "Electronic gear (EG) (Page 340)"). It contains the (selective) switchover of the
electronic gearbox to actual value coupling if there is a fault on the leading axes, and also
maintains traversing motion and the enable signals during the delay time for ESR axes:
MD21380 $MC_ESR_DELAY_TIME1
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
MD21380 $MC_ESR_DELAY_TIME1 (delay time, ESR axes)
MD21381 $MC_ESR_DELAY_TIME2 (ESR time for interpolatory braking)
Actual speed, which could be braked to a standstill within T2
Actual speed, which could not be braked to a standstill within T2 ⇒ fast braking
R3: Extended stop and retract
9.2 Control-managed ESR - 840D sl only
461