Siemens sinumerik 840D sl Function Manual page 351

2.7.3 Drive-independent reactions
Independent drive reactions are defined axially, that is, if activated each drive processes its
stop and retract request independently. There is no interpolatory coupling of axes or coupling
adhering to the path on stop or retract (only for control management). Axis reference is
performed under time control.
During and after execution of drive-independent reactions, the NC enables/ travel commands
no longer have an effect on the respective drive, therefore, it is necessary to perform a
POWER OFF/POWER ON. Alarm 26110 "Drive-independent stop/retract triggered" draws
attention to this.
Note
If retraction is triggered on the 611digital drive, no alarm 26110 is issued.
Note
Drive-independent stop and retract are "automatically" triggered (as in the event of a
communication failure).
These drive-side reactions are therefore cross-channel functions. This means that if drive-
independent stop and retract is triggered in one channel, the drives of another channel also
produce their projected (and just released) drive-independent stop or retract reactions.
Drive-independent generator operation ESR_REACTION = 10
The generator operation is
• configures, (MD37500 $MA_ESR_REACTION=10; the configuration must be defined in
• Enabled ($AA_ESR_ENABLE) and
• Activated: In the drive according to the settings in the drive machine data with DC link
Drive-independent retraction ESR_REACTION = 11
Drive-independent retract is
• configured (MD37500 $MA_ESR_REACTION=11; time specification and retract speed
• Released: System variable $AA_ESR_ENABLE
• started: System variable $AN_ESR_TRIGGER.
Special functions: Axis Couplings and ESR (M3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
the axis-specific machine data of the appropriate axis),
undervoltage.
are set in MD; see "Example: Using drive-independent reaction" in Chapter "Examples",
"ESR"),
Detailed description
2.7 Extended stop and retract (ESR)
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