Siemens sinumerik 840D sl Function Manual page 623

Detailed description
2.2 Speed/torque coupling (up to SW 5.x)
Reaction to errors
In the event of error conditions for alarms with alarm reaction "Follow-up in master and/or
slave", each axis is decelerated to 0 speed. The master-slave coupling is deactivated.
For avoiding mechanical tensions, the following machine data and drive machine data for
master and slave axes must be set to the same values.
Machine data:
MD36620 $MA_SERVO_DISABLE_DELAY_TIME
MD36610 $MA_AX_ENERGY_STOP_TIME
Drive machine data:
MD1403 $MD_PULSE_SUPPRESSION_SPEED
MD1404 $MD_PULSE_SUPPRESSION_DELAY
This remains the responsibility of the user. The master-slave coupling does not become
active again until both axes have returned to the "control active" state following a channel
reset.
36
Special functions: Speed/Torque Coupling, Master-Slave (TE3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0