Siemens SINUMERIK 840D sl Programming Manual page 620

Additional functions
16.11 Extended stop and retract (ESR)
Example
Retracting an individual axis:
Program code
MD37500 $MA_ESR_REACTION[AX1]=21
...
$AA_ESR_ENABLE[AX1]=1
POLFA(AX1,1,20.0)
$AA_ESR_TRIGGER[AX1]=1
Further information
Requirements for NC-controlled retraction
● A retraction axis is configured for the NC-controlled retraction in the channel:
● ESR must be must be enabled for this axis:
● Delay times are defined:
● The axis-specific retraction positions have been configured with
● The axes are selected with
● The activate signals must be set for the retraction movement and remain set.
Enable and start NC-controlled reactions
If system variable $AC_ESR_TRIGGER = 1 is set and if a retraction axis is configured in this
channel (i.e. MD37500 $MA_ESR_REACTION = 21) and $AA_ESR_ENABLE = 1 is set for
this axis, then rapid lift (LIFTFAST) is activated in this channel.
The lift movement configured with
POLFMLIN
The sum of the MD21380 $MC_ESR_DELAY_TIME1 and MD21381
$MC_ESR_DELAY_TIME2 times is the maximum available for the retraction. When this time
has expired, rapid deceleration with follow-up is also initiated for the retraction axis.
Note
The extended retraction (i.e. LIFTFAST/LFPOS triggered by $AC_ESR_TRIGGER) cannot
be interrupted and can only be terminated prematurely via an emergency stop.
620
MD37500 $MA_ESR_REACTION = 21
$AA_ESR_ENABLE = 1
MD21380 $MC_ESR_DELAY_TIME1
MD21381 $MC_ESR_DELAY_TIME2
replaces the path motion defined for these axes in the part program.
Comment
; NC-controlled retraction.
; AX1 is assigned the axial retraction
position 20.0 (absolute).
; Retraction starts from here.
/ for the NC-controlled retraction.
POLFMASK POLFMLIN
(or ) for the axes selected with
POLF POLF
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
in the part program.
POLF
or
POLFMASK
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