Siemens Sinumerik 840D sl Programming Manual page 723

<retraction
velocity_1>,
...,
<retraction
velocity_n>:
A maximum of 5 axes can be programmed in a function call; n = 5
References
Function Manual, Special Functions; Extended Stop and Retract (R3), Drive-Integrated ESR
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
14.12 Drive-integrated extended stop and retract (ESR)
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 0.00 - MAX
values:
Additional functions
723