Additional functions
13.7 Extended stop and retract
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
13-33
Example of the use of drive-independent response
Example configuration
• Axis A is to operate as generator drive,
• in the event of an error, axis X must retract by 10 mm at maximum speed, and
• axes Y and Z must stop after a 100 ms delay to give the retraction axis time to cancel the
mechanical coupling.
Example execution
1. Activate options "Ext. Stop and retract" and "Mode-independent actions"
(includes "Static synchronized actions IDS ...)".
2. Function assignment:
$MA_ESR_REACTION[X] = 11,
$MA_ESR_REACTION[Y] = 12,
$MA_ESR_REACTION[Z] = 12,
$MA_ESR_REACTION[A] = 10;
3. Drive configuration:
MD 1639: RETRACT_SPEED[X] = 400000H in pos. direction (max. speed),
= FFC00000H in neg. direction,
MD 1638: RETRACT_TIME[X] = 10ms (retraction time),
MD 1637: GEN_STOP_DELAY[Y] = 100ms,
MD 1637: GEN_STOP_DELAY[Z] = 100ms,
MD 1635: GEN_AXIS_MIN_SPEED[A] = generator min. speed (rpm).
4. Function enable (from parts program or synchronous actions) by setting the system
variables:
$AA_ESR_ENABLE[X] = 1,
$AA_ESR_ENABLE[Y] = 1,
$AA_ESR_ENABLE[Z] = 1,
$AA_ESR_ENABLE[A] = 1.
5. Accelerate generator drive to "momentum" speed (e.g. in spindle operation M03 S1000)
6. Formulate trigger condition as static synchronous action(s), e.g.:
• dependent on intervention of generator axis: IDS = 01 WHENEVER
$AA_ESR_STAT[A]>0 DO $AN_ESR_TRIGGER = 1
• and/or dependent on alarms that trigger follow-up mode (bit13=2000H): IDS = 02
WHENEVER ($AC_ALARM_STAT B_AND 'H2000'>0
DO $AN_ESR_TRIGGER = 1
• and also dependent on EG synchronized operation (if, for example, Y is defined as the
EG following axis and if the max. permissible synchronized operation deviation is to be
100 μm):
IDS = 03 WHENEVER ABS($VA_E_SYNCDIFF[Y])>0.1
DO $AN_ESR_TRIGGER = 1
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