Requirements
● A stopping axis is configured for the NC-controlled stopping in the channel:
MD37500 $MA_ESR_REACTION = 22
● ESR must be enabled for this axis:
$AA_ESR_ENABLE = 1
● Delay times are defined:
MD21380 $MC_ESR_DELAY_TIME1 (delay time, ESR axes)
MD21381 $MC_ESR_DELAY_TIME2 (ESR time for interpolatory braking)
Execution
This axis continues interpolating as programmed for the time period set in MD21380: After the
time delay specified in MD21380 has expired, controlled braking (ramp stop) is initiated: The
time period in MD21381 is the maximum available for the interpolatory controlled braking. After
this period expires, fast braking with subsequent tracking is initiated.
Example
Stopping a single axis:
Program code Comment
MD37500 $MC_ESR_REACTION[AX1] = 22 ; NC-controlled stopping.
MD21380 $MC_ESR_DELAY_TIME1[AX1] = 0.3
MD21381 $MC_ESR_DELAY_TIME2[AX1] = 0.06
...
$AA_ESR_ENABLE[AX1]=1
$AA_ESR_TRIGGER[AX1]=1 ; Stopping starts from here.
3.21.2 Drive-integrated ESR
3.21.2.1 Configuring drive-integrated stopping (ESRS)
The drive parameters for "stopping" of the drive-integrated ESR function are configured using
the ESRS(...) function.
Syntax
ESRS(<access_1>,<stopping time_1>[,...,<axis_n>,<stopping time_n>])
Work preparation
3.21 Extended stop and retract (ESR)
NC programming
980 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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