Siemens sinumerik 840D sl Function Manual page 354

Detailed description
2.7 Extended stop and retract (ESR)
Times T1 and T2
The times T1 and T2 are parameterized via the machine data:
MD21380 $MC_ESR_DELAY_TIME1.
and
MD21381 $MC_ESR_DELAY_TIME2
The timing for NC-controlled extended stop can be taken from the figure below.
Figure 2-11
Note
For safety reasons, the total of times T1 and T2 should not exceed a maximum value, e.g. 1
second.
Responses for ESR_REACTION = 22
Responses for a path axis
If the following machine data applies to a path axis, then "extended stop" will be transfered to
all path axes of the channel:
MD37500 $MA_ESR_REACTION = 22
Responses for a leading axis
If the following machine data applies to a leading axis, then "extended stop" will be
transfered to all following axes of the channel:
MD37500 $MA_ESR_REACTION = 22
134
Parameterizable/programmable control-driven shutdown
Special functions: Axis Couplings and ESR (M3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0