Hi all,
I'm facing with an ESR problem.

My axis X has 0 to 100 mm stroke and I have activated ESR function with -8 retraction distance.

I have an hardware limit switch at 0 mm and a software limit switch at 2 mm. Normally all works fine. But in a particular case my position could be near to the software limit switch (2 mm). Now if I press the emergency button the ESR ignore both the sofware and hardware limit switch going at -6 mm.

ESR is activated only for the X axis.

How can I prevent this behavior?

Thank you,
Claudio.

P.S. my configuration:

SINUMERIK; 840D sl; NCU 710.3BPN with PLC 317-3PN/DP - 6FC5371-0AA30-0AB0
Smart Line Module; 55,00 kW - 6SL3130-6TE25-5AA3
Double Motor Module; 18,00 A (X and A axes) - 6SL3120-2TE21-8AD0
Synchronous servomotor 1FT/1FK; 5,65 kW; AH 80 mm - 1FT7086-1AF71-1CH1
[...]

nulizhang

 Extended Stop and Retract --ESR function , I attached Siemens manual cover (too large to load here), I highline the chapter you need to read.

Only limit help can be given.

1st choice contact machine builder

2nd , is it possible you set up or operation mistake? , think about what was changed until it functional good to no good.

For first, thank you for your reply; then sadly I'm the machine builder.

I'll try to explain by some examples:

A) I'm working with X axis at 50.0 mm and I press the emergency button. Then the X axis goes to 42mm (50 - 8) and I like it!

B) I'm working with X axis at 4.0 mm and I press the emergency button. Then the X axis goes to -4mm (4 - 8) and I don't like it! The axis overtravel the software LS (2mm) and the hardware LS at 0mm.

I'm using this code for programming the ESR function:

$AA_ESR_ENABLE[X1]=0
ESRR(X1,-8.0,2000.0)
$AA_ESR_ENABLE[X1]=1

Could the POLFA help me to prevent this situation? It should travel the X axis at 2 mm absolute position, isn't it?

$AA_ESR_ENABLE[X1]=0
POLFA(X1,1,2.0)
$AA_ESR_ENABLE[X1]=1

Thank you,
Claudio.

​

PISCEAN 2010

 Hello,

Yes you should define absolute position instead of distance so that axis will not overtravel. 

Nice, thank you.

It's first time I'm going to use the POLF/POLFA command and I need some advices.

I have MD37500 $MA_ESR_REACTION = 21

To activate and use ESR my old code was: