3.21 Extended stop and retract (ESR)
The extended stop and retract function - subsequently called ESR - offers the possibility of
flexibly responding when a fault situation occurs as a function of the process:
● Extended stop
Assuming that the specific fault situation permits it, all of the axes, enabled for extended
stopping, are stopped in an orderly way.
● Retraction
The tool currently in use is retracted from the workpiece as quickly as possible.
● Generator operation (SINAMICS drive function "Vdc control")
If a parameterizable value of the DC-link voltage is fallen below, e.g. because the line
voltage fails, the electrical energy required for retraction is generated by recovering the
braking energy of the drive intended for this purpose (generator operation).
Trigger sources
General sources (NC-external/global or mode group-/channel-specific):
● Digital inputs (e.g. on NCU module) or the control-internal digital output image that can be
read back ($A_IN, $A_OUT)
● Channel state ($AC_STAT)
● VDI signals ($A_DBB)
● Group messages of a number of alarms ($AC_ALARM_STAT)
Axial sources
● Emergency retraction threshold of the following axis (synchronism of electronic coupling,
$VA_EG_SYNCDIFF[<following axis>])
●
Drive: DC-link warning threshold (imminent undervoltage), $AA_ESR_STAT[<axis>]
● Drive: Generator minimum speed threshold (no further regenerative rotation energy
available), $AA_ESR_STAT[<axis>].
Gating logic of the static synchronized actions: Source/response link
The static synchronized actions' flexible gating possibilities are used to trigger specific
reactions relatively quickly according to the sources.
Linking all relevant sources using static synchronized actions is the responsibility of the user.
They can selectively evaluate the source system variables as a whole or by means of bit masks,
and then make a logic operation with their desired reactions. The static synchronized actions
are effective in all operating modes.
Work preparation
3.21 Extended stop and retract (ESR)
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 975
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