Siemens SINUMERIK 840D sl Function Manual page 394

R3: Extended stop and retract
6.3 ESR executed autonomously in the drive
the drive-integrated ESR for an axis is enabled ($AA_ESR_ENABLE[<axis>] == 1), then it is
not permissible to change the axial transmission ratio.
NOTICE
Changing the transmission ratio
If the drive-integrated ESR is not enabled for an axis ($AA_ESR_ENABLE[<axis>] == 0),
then the axial transmission ratio can be changed. After the transmission ratio has been
changed, it is the sole responsibility of the user/machine manufacturer to appropriately adapt
the retraction distance and the retraction velocity.
Supplementary conditions
Consistent parameter change
In order that the drive parameters are consistently effective, in the part program the drive-
integrated ESR enable signals must be withdrawn before the functions ESRS(...) and
ESRR(...).
Example:
Program code
N100 $AA_ESR_ENABLE[X1]=0
N110 $AA_ESR_ENABLE[Z1]=0
N120 $AA_ESR_ENABLE[Y1]=0
N130 ESRR(X1,20.0,10000.0,Z1,-15.0,20000.0)
N140 ESRS(Y1,0.5,B1,0.5)
N150 $AA_ESR_ENABLE[X1]=1
N160 $AA_ESR_ENABLE[Z1]=1
N170 $AA_ESR_ENABLE[Y1]=1
When executing the functions ESRS(...) and ESRR(...) further execution of the part
program is stopped until writing to the drive parameters has been acknowledged. During this
time, the following message is used as feedback signal for the user: "Wait for drive
parameters from <Function>" is displayed.
Block search with calculation
During the block search with calculation, the functions ESRS(...) and ESRR( ... ) are
collected and executed in the action block.
Block search with calculation in "Program test" (SERUPRO) mode
During SERUPRO, the functions ESRS(...) and ESRR( ... ) are executed immediately.
394
Comment
; Withdraw ESR enable signals
; Change ESR parameters
; Set ESR enable signals
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions