Siemens SINUMERIK 840D Function Manual page 198

P2: Positioning axes
6.3 Motion behavior and interpolation functions
The NC-controlled extended stop and retract is activated by the axial trigger
$AA_ESR_TRIGGER[axis]. It works analogously to $AC_ESR_TRIGGER and applies
exclusively to single axes.
Further information
M3: Coupled axes (Page 419)
Extended retract numerically controlled
For retracting single axes, the value must have been programmed via POLFA(axis, type, value)
and the following conditions must be met:
● The axis must be a single axis at the time of triggering
● $AA_ESR_ENABLE[axis]=1
● POLFA(axis, type, value) with type=1 or type=2 only
POLFA(axis, value, axis, type, axis type).
Note
NC-controlled extended stop for single axes:
The trigger is only effective if the axis is a single axis at the time of triggering, otherwise the
trigger is ignored and the axial stop for this axis is not executed.
NC-controlled extended retract for single axes:
The channel-specific NC-controlled extended retract function is not effective for single
axes. All axes that are single axes at the time of triggering $AC_ESR_TRIGGER will be
ignored for channel-specific retraction.
This also applies when all the parameters for retraction are set, such as:
MD37500 $MA_ESR_REACTION
$AA_ESR_ENABLE for the axis, etc.
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 to stop the process here
Extended retraction of a single axis:
MD37500 $MA_ESR_REACTION[AX1]=21
...
$AA_ESR_ENABLE[AX1] = 1
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Axes and spindles
Function Manual, 06/2019, A5E47437747B AA