Meaning
ESRR(...): Function to write to the drive parameters for the ESR function "re‐
tract"
The function:
● Must be alone in the block.
● Triggers a preprocessing stop.
● Cannot be used in synchronized actions.
<axis_1>,
...,
<axis_n>:
Axis for which drive-integrated retraction should be configured
For this axis, drive parameter p0888 (configuration) is written to in
the drive:
p0888 = 2
Type: AXIS
Range of values: Channel axis identifier
<retraction distance_1>,
...,
<retraction distance_n>:
For the drive, the retraction distance is converted into a retraction
speed. For the specified axis, the value is written to drive parameter
p0893 (speed):
p0893 = (<retraction distance _n> converted into retraction speed)
Unit: mm/min, inch/min, degrees/min (depending
on the unit of the axis)
Type: REAL
Range of values: MIN - MAX
<retraction
velocity_1>,
...,
<retraction
velocity_n>:
For the drive, the retraction velocity is converted into a time. For the
specified axis, the value is written to drive parameter p0892 (timer)
[s]:
p0892 = <retraction distance_n> / <retraction velocity _n>
Unit: mm/min, inch/min, degrees/min (depending
on the unit of the axis)
Type: REAL
Range of values: 0.00 - MAX
A maximum of 5 axes can be programmed in a function call; n = 5
Work preparation
3.21 Extended stop and retract (ESR)
NC programming
982 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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