Siemens SINUMERIK 840D sl Function Manual page 380

R3: Extended stop and retract
6.2 Control-managed ESR
Examples for axes with path relationship
For the subsequent examples, two path axes X and Y are assumed, which are configured as
NC-controlled retraction axes and are programmed for the retraction positions:
• MD37500, $MA_ESR_REACTION[X] = 21
• MD37500, $MA_ESR_REACTION[Y] = 21
• POLF[X]=<retraction position> LFPOS
• POLF[Y]=<retraction position> LFPOS
Initial situation
• $AA_ESR_ ENABLE[X] = 1
• $AA_ESR_ ENABLE[Y] = 1
• POLFMASK(X,Y)
• Program traversing motion: Y
• $AA_ESR_ ENABLE[X] = 0
• $AA_ESR_ ENABLE[Y] = 1
• POLFMASK(X,Y)
• Program traversing motion: X and Y
• $AA_ESR_ ENABLE[X] = 1
• $AA_ESR_ ENABLE[Y] = 1
• POLFMASK(Y)
• Program traversing motion: X
• $AA_ESR_ ENABLE[X] = 1
• $AA_ESR_ ENABLE[Y] = 1
• POLFMASK(X)
• Program traversing motion: X and Y
Examples for axes without path relationship
For the subsequent examples, path axes X and a command axis B are assumed, which are
configured as NC-controlled retraction axis:
• MD37500, $MA_ESR_REACTION[X] = 21
• MD37500, $MA_ESR_REACTION[B] = 21
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Response in the case of ESR
Retraction motion in X and Y.
X does not have ESR enable. As X is a path axis, for X, the ESR response is
implicitly changed to 22 (stopping). This is the reason that X continues to
traverse corresponding to the programmed traversing motion.
Y executes retraction motion.
After the delay time for ESR axes expires, MD21380,
$MC_ESR_DELAY_TIME1, X is stopped with the path acceleration.
X has no retraction enable (POLFMASK). X does not execute any retraction
motion. As X is a path axis, for X, the ESR response is implicitly changed to
22 (stopping). This is the reason that X continues to traverse corresponding
to the programmed traversing motion.
Y executes retraction motion.
After the delay time for ESR axes expires, MD21380,
$MC_ESR_DELAY_TIME1, X is stopped with the path acceleration.
Y has not been enabled for retraction (POLFMASK). see lines above, syntax
Y does not execute retraction motion. As Y is a path axis, for Y, the ESR
response is implicitly changed to 22 (stopping). This is the reason that Y
continues to traverse corresponding to the programmed traversing motion.
X executes retraction motion.
After the delay time for ESR axes expires, MD21380,
$MC_ESR_DELAY_TIME1, Y is stopped with the path acceleration.
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions