Siemens SINUMERIK 840D sl Parts list manual

SINUMERIK
SINUMERIK 840D sl / 828D
Synchronized actions
Function Manual
Valid for
Control
SINUMERIK 840D sl / 840DE sl / 828D
CNC software Version 4.8 SP3
08/2018
6FC5397-5BP40-6BA2
Preface
Fundamental safety
instructions 1
Brief description 2
Detailed description 3
Examples 4
Data lists 5
NC/PLC interface signals 6
Appendix A

Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified
personnel are those who, based on their training and experience, are capable of identifying risks and avoiding
potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
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All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
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Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in
this publication is reviewed regularly and any necessary corrections are included in subsequent editions.
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Document order number: 6FC5397-5BP40-6BA2
Ⓟ 08/2018 Subject to change
Copyright © Siemens AG 1994 - 2018.
All rights reserved

Preface
SINUMERIK documentation
The SINUMERIK documentation is organized into the following categories:
● General documentation/catalogs
● User documentation
● Manufacturer/service documentation
Additional information
You can find information on the following topics at the following address (https://
support.industry.siemens.com/cs/de/en/view/108464614):
● Ordering documentation/overview of documentation
● Additional links to download documents
● Using documentation online (find and search in manuals/information)
If you have any questions regarding the technical documentation (e.g. suggestions,
corrections), please send an e-mail to the following address
(mailto:[email protected]).
mySupport/Documentation
At the following address (https://support.industry.siemens.com/My/ww/en/documentation),
you can find information on how to create your own individual documentation based on
Siemens' content, and adapt it for your own machine documentation.
Training
At the following address (http://www.siemens.com/sitrain), you can find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).
FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
SINUMERIK
You can find information about SINUMERIK at the following address (http://www.siemens.com/
sinumerik).
Synchronized actions
Function Manual, 08/2018, 6FC5397-5BP40-6BA2 3

Target group
This publication is intended for:
● Project engineers
● Technologists (from machine manufacturers)
● System startup engineers (Systems/Machines)
● Programmers
Benefits
The function manual describes the functions so that the target group knows them and can
select them. It provides the target group with the information required to implement the
functions.
Standard version
This documentation only describes the functionality of the standard version. Extensions or
changes made by the machine tool manufacturer are documented by the machine tool
manufacturer.
Other functions not described in this documentation might be executable in the control. This
does not, however, represent an obligation to supply such functions with a new control or when
servicing.
Further, for the sake of simplicity, this documentation does not contain all detailed information
about all types of the product and cannot cover every conceivable case of installation, operation
or maintenance.
Technical Support
Country-specific telephone numbers for technical support are provided in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.
Preface
Synchronized actions
4Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Table of contents
Preface.........................................................................................................................................................3
1Fundamental safety instructions...................................................................................................................9
1.1 General safety instructions.......................................................................................................9
1.2 Warranty and liability for application examples........................................................................9
1.3 Industrial security...................................................................................................................10
2 Brief description..........................................................................................................................................13
3 Detailed description....................................................................................................................................15
3.1 Definition of a synchronized action........................................................................................15
3.2 Components of synchronized actions....................................................................................16
3.2.1 Validity, identification number (ID, IDS).................................................................................16
3.2.2 Frequency (WHENEVER, FROM, WHEN, EVERY)..............................................................17
3.2.3 G command (condition)..........................................................................................................18
3.2.4 Condition................................................................................................................................19
3.2.5 G command (action)...............................................................................................................19
3.2.6 Action (DO)............................................................................................................................20
3.3 System variables for synchronized actions............................................................................20
3.3.1 Reading and writing...............................................................................................................21
3.3.2 Operators and arithmetic functions .......................................................................................22
3.3.3 Type conversions...................................................................................................................25
3.3.4 Marker/counter ($AC_MARKER)...........................................................................................26
3.3.5 Parameters ($AC_PARAM)....................................................................................................27
3.3.6 R parameters ($R).................................................................................................................28
3.3.7 Machine and setting data ($$M, $$S)....................................................................................29
3.3.8 Timer ($AC_TIMER)...............................................................................................................30
3.3.9 FIFO variables ($AC_FIFO)...................................................................................................31
3.3.10 Path tangent angle ($AC_TANEB).........................................................................................36
3.3.11 Override ($A...OVR)...............................................................................................................36
3.3.12 Capacity evaluation ($AN_IPO ... , $AN/AC_SYNC ... , $AN_SERVO).................................38
3.3.13 Working-area limitation ($SA_WORKAREA_ ... )...................................................................41
3.3.14 SW cam positions and times ($$SN_SW_CAM_ ...)..............................................................41
3.3.15 Path length evaluation / machine maintenance ($AA_TRAVEL ... , $AA_JERK ... )..............42
3.3.16 Polynomial coefficients, parameters ($AC_FCT ...)...............................................................43
3.3.17 Overlaid movements ($AA_OFF)...........................................................................................45
3.3.18 Online tool length compensation ($AA_TOFF)......................................................................48
3.3.19 Current block in the interpolator ($AC_BLOCKTYPE, $AC_BLOCKTYPEINFO,
$AC_SPLITBLOCK)...............................................................................................................51
3.3.20 Initialization of array variables (SET, REP)............................................................................54
3.3.21 Grinding-specific system variables ($AC_IN_KEY_G...)........................................................54
3.3.22 Status Synchronized action disabled ($AC_SYNA_STATE)..................................................57
3.4 User-defined variables for synchronized actions...................................................................58
3.5 Language elements for synchronized actions and technology cycles...................................60
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3.6 Language elements for technology cycles only.....................................................................66
3.7 Actions in synchronized actions.............................................................................................67
3.7.1 Output of M, S and H auxiliary functions to the PLC..............................................................67
3.7.2 Reading and writing of system variables................................................................................68
3.7.3 Polynomial evaluation (SYNFCT)..........................................................................................68
3.7.4 Online tool offset (FTOC).......................................................................................................73
3.7.5 Programmed read-in disable (RDISABLE).............................................................................75
3.7.6 Cancel preprocessing stop (STOPREOF).............................................................................76
3.7.7 Delete distance-to-go (DELDTG)...........................................................................................76
3.7.8 Traversing axes, to position (POS)........................................................................................78
3.7.9 Setting the measuring system (G70, G71, G700, G710).......................................................81
3.7.10 Position in specified reference range (POSRANGE).............................................................82
3.7.11 Traversing axes, endless (MOV)............................................................................................83
3.7.12 Axial feedrate (FA).................................................................................................................84
3.7.13 Axis replacement (GET, RELEASE, AXTOCHAN)................................................................85
3.7.14 Traversing spindles (M, S, SPOS).........................................................................................90
3.7.15 Withdrawing the enable for the axis container rotation (AXCTSWEC)..................................92
3.7.16 Actual value setting with loss of the referencing status (PRESETON)..................................94
3.7.17 Actual value setting without loss of the referencing status (PRESETONS)...........................99
3.7.18 Couplings (CP..., LEAD..., TRAIL..., CTAB...)......................................................................105
3.7.19 Measurement (MEAWA, MEAC)..........................................................................................109
3.7.20 Travel to fixed stop (FXS, FXST, FXSW, FOCON, FOCOF, FOC)......................................112
3.7.21 Channel synchronization (SETM, CLEARM).......................................................................114
3.7.22 User-specific error reactions (SETAL).................................................................................115
3.7.23 Cancel the actual subprogram level (CANCELSUB)...........................................................116
3.8 Technology cycles................................................................................................................116
3.8.1 General................................................................................................................................116
3.8.2 Processing mode (ICYCON, ICYCOF)................................................................................118
3.8.3 Definitions (DEF, DEFINE)...................................................................................................120
3.8.4 Parameter transfer...............................................................................................................120
3.8.5 Context variable ($P_TECCYCLE)......................................................................................120
3.9 Protected synchronized actions...........................................................................................121
3.10 Coordination via part program and synchronized action (LOCK, UNLOCK, CANCEL).......122
3.11 Coordination via PLC...........................................................................................................123
3.12 Configuration........................................................................................................................124
3.13 Control behavior in specific operating states.......................................................................125
3.13.1 Power On.............................................................................................................................125
3.13.2 NC reset...............................................................................................................................126
3.13.3 NC stop................................................................................................................................126
3.13.4 Operating mode change.......................................................................................................127
3.13.5 End of program....................................................................................................................128
3.13.6 Block search.........................................................................................................................128
3.13.7 Program interruption by ASUB.............................................................................................129
3.13.8 REPOS.................................................................................................................................129
3.13.9 Response to alarms.............................................................................................................130
3.14 Diagnostics (HMI Advanced only)........................................................................................130
3.14.1 Displaying the status of synchronized actions.....................................................................131
3.14.2 Displaying main run variables..............................................................................................132
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3.14.3 Logging main run variables..................................................................................................133
4 Examples..................................................................................................................................................137
4.1 Examples of conditions in synchronized actions..................................................................137
4.2 Reading and writing of SD/MD from synchronized actions..................................................137
4.3 Examples of adaptive control...............................................................................................139
4.3.1 Clearance control with variable upper limit..........................................................................139
4.3.2 Feedrate control...................................................................................................................141
4.3.3 Control velocity as a function of normalized path.................................................................142
4.4 Monitoring a safety clearance between two axes................................................................143
4.5 Store execution times in R parameters................................................................................143
4.6 "Centering" with continuous measurement..........................................................................144
4.7 Axis couplings via synchronized actions..............................................................................147
4.7.1 Coupling to leading axis.......................................................................................................147
4.7.2 Non-circular grinding via master value coupling..................................................................148
4.7.3 On-the-fly parting.................................................................................................................152
4.8 Technology cycles position spindle......................................................................................153
4.9 Synchronized actions in the TC/MC area.............................................................................154
5 Data lists...................................................................................................................................................159
5.1 Machine data........................................................................................................................159
5.1.1 General machine data..........................................................................................................159
5.1.2 Channelspecific machine data.............................................................................................159
5.1.3 Axis-specific machine data...................................................................................................159
5.2 Setting data..........................................................................................................................160
5.2.1 Axis/spindle-specific setting data.........................................................................................160
5.3 Signals.................................................................................................................................160
5.3.1 Signals to channel................................................................................................................160
5.3.2 Signals from channel............................................................................................................161
6 NC/PLC interface signals.........................................................................................................................163
6.1 Signals to channel (DB21, ...)..............................................................................................163
6.2 Signals from channel (DB21, ...)..........................................................................................164
A Appendix...................................................................................................................................................167
A.1 Overview..............................................................................................................................167
Index.........................................................................................................................................................169
Table of contents
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Function Manual, 08/2018, 6FC5397-5BP40-6BA2 7

Table of contents
Synchronized actions
8Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Fundamental safety instructions 1
1.1 General safety instructions
WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are not
observed, accidents involving severe injuries or death can occur.
● Observe the safety instructions given in the hardware documentation.
● Consider the residual risks for the risk evaluation.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
● Protect the parameterization (parameter assignments) against unauthorized access.
● Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
1.2 Warranty and liability for application examples
Application examples are not binding and do not claim to be complete regarding configuration,
equipment or any eventuality which may arise. Application examples do not represent specific
customer solutions, but are only intended to provide support for typical tasks.
As the user you yourself are responsible for ensuring that the products described are operated
correctly. Application examples do not relieve you of your responsibility for safe handling when
using, installing, operating and maintaining the equipment.
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Function Manual, 08/2018, 6FC5397-5BP40-6BA2 9

1.3 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected
to an enterprise network or the Internet if and to the extent such a connection is necessary
and only when appropriate security measures (e.g. firewalls and/or network segmentation) are
in place.
For additional information on industrial security measures that may be implemented, please
visit:
Industrial security (http://www.siemens.com/industrialsecurity)
Siemens’ products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends that product updates are applied as soon as they are available
and that the latest product versions are used. Use of product versions that are no longer
supported, and failure to apply the latest updates may increase customer’s exposure to cyber
threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed at:
Industrial security (http://www.siemens.com/industrialsecurity)
Further information is provided on the Internet:
Industrial Security Configuration Manual (https://support.industry.siemens.com/cs/ww/en/
view/108862708)
Fundamental safety instructions
1.3 Industrial security
Synchronized actions
10 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

WARNING
Unsafe operating states resulting from software manipulation
Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating
states in your system that may lead to death, serious injury, and property damage.
● Keep the software up to date.
● Incorporate the automation and drive components into a holistic, state-of-the-art industrial
security concept for the installation or machine.
● Make sure that you include all installed products into the holistic industrial security concept.
● Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
● Protect the drive against unauthorized changes by activating the "know-how protection"
drive function.
Fundamental safety instructions
1.3 Industrial security
Synchronized actions
Function Manual, 08/2018, 6FC5397-5BP40-6BA2 11

Fundamental safety instructions
1.3 Industrial security
Synchronized actions
12 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Brief description 2
General
A synchronized action consists of a series of related statements within a part program that is
called cyclically in the interpolator clock cycle synchronously to the machining blocks.
A synchronized action is essentially divided into two parts, the optional condition and the
obligatory action part. The time at which the actions are executed can be made dependent on
a specific system state using the condition part. The conditions are evaluated cyclically in the
interpolator clock cycle. The actions are then a reaction to user-definable system states. Their
execution is not bound to block limits.
Furthermore, the validity of the synchronized action (non-modal, modal or static) and the
frequency of the execution of the actions (once, repeatedly) can be defined.
Examples of permissible actions
● Output of auxiliary functions to PLC
● Writing and reading of main run variables
● Traversing of positioning axes
● Activation of synchronous procedures, such as:
– Read-in disable
– Delete distance-to-go
– End preprocessing stop
● Activation of technology cycles
● Calculation of function values
● Tool offsets
● Activating/deactivating couplings
● Measuring
● Enabling/disabling of synchronized actions
Examples of non-permissible actions
● Traversing of path axes
Synchronized actions
Function Manual, 08/2018, 6FC5397-5BP40-6BA2 13

Schematic diagram of synchronized actions
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Brief description
Synchronized actions
14 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Detailed description 3
3.1 Definition of a synchronized action
A synchronized action is defined in a block of a part program. Any further commands that are
not part of the synchronized action, must not be programmed within this block.
Components of a synchronized action
A synchronized action consists of the following components:
Validity, ID no.
(Page 16)
(optional)
Condition part
(optional)
Action part
Frequency
(Page 17)
G command
(Page 18)
(optional)
Condition
(Page 19)
Keyword G command
(Page 19)
(optional)
Actions
(Page 20)
--- 1)
ID=<no.>
IDS=<no.>
--- 1)
WHENEVER
FROM
WHEN
EVERY
G... Logical
expression
DO G... Action 1
...
Action n
1) not programmed
Syntax
Examples:
1. DO <action 1...n>
2. <frequency> [<G function>] <condition> DO <action 1...n>
3. ID=<no.> <frequency> [<G function>] <condition> DO <action 1...n>
4. IDS=<no.> <frequency> [<G function>] <condition> DO <action 1...n>
Synchronized actions
Function Manual, 08/2018, 6FC5397-5BP40-6BA2 15

3.2 Components of synchronized actions
3.2.1 Validity, identification number (ID, IDS)
Validity
The validity defines when and where the synchronized action will be processed:
Validity Meaning
--- 1) Non-modal synchronized action
A non-modal synchronized action applies:
● As long as the main run block following the synchronized action is active
● Only in the AUTOMATIC mode
Example:
The synchronized action from N10 takes effect as long as N20 is active.
N10 WHEN $A_IN[1]==TRUE DO $A_OUTA[1]=10
N20 G90 F1000 X100
ID=<ID number> Modal synchronized action
A modal synchronized action applies:
● Until the part program has been completed
● Only in the AUTOMATIC mode
Range of values: See the paragraph below "Identification number" > "Value
range"
Example:
N20 ID=1 EVERY $A_IN[1]==TRUE DO $A_OUTA[1]=10
IDS=<ID number> Static synchronized action
A static synchronized action applies:
● In all operating modes for an unlimited period of time
Range of values: See the paragraph below "Identification number" > "Value
range"
Example:
N30 IDS=1 EVERY $A_IN[1]==TRUE DO $A_OUTA[1]=10
1) Not programmed
Note
Static synchronized actions
Static synchronized actions (IDS) can be defined in an ASUB and activated at any time by
activation of the ASUB via the PLC user program.
Detailed description
3.2 Components of synchronized actions
Synchronized actions
16 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Identification number ID/IDS
Range of values
The identification numbers ID/IDS are in various number ranges. The number ranges are
assigned to different users.
ID/IDS User Directory
1 ... 999 "General area" Any directory
"Safety Integrated" function /_N_CST_DIR/_N_SAFE_SPF
1000 ... 1199 Machine manufacturer /_N_CMA_DIR
1200 ... 1399 Siemens /_N_CST_DIR
Parallelization
If several synchronized actions are to be active in parallel in a channel, their identification
numbers ID/IDS must be different. Synchronized actions with the same identification number
replace each other within a channel.
Sequence of execution
Modal and static synchronized actions are executed in the order of their identification numbers
ID/IDS.
Non-modal synchronized actions are executed after execution of the modal synchronized
actions in the order of their programming.
Coordination via part programs and synchronized actions
Synchronized actions can be coordinated via part programs and synchronized actions based
on the identification numbers ID/IDS (see Section "Coordination via part program and
synchronized action (LOCK, UNLOCK, CANCEL) (Page 122)").
Coordination via PLC
Synchronized actions with identification numbers ID/IDS in the range from 1 to 64 can be
coordinated via the NC/PLC interface from the PLC user program (see Section "Coordination
via PLC (Page 123)").
3.2.2 Frequency (WHENEVER, FROM, WHEN, EVERY)
The frequency specifies how often the condition is queried and, when the condition is fulfilled,
how often the action should be executed. The frequency is part of the condition.
Frequency Meaning
--- 1) If no frequency is specified, the action is executed cyclically in every interpolator clock cycle.
WHENEVER If the condition is fulfilled, the action is executed cyclically in every interpolator clock cycle.
FROM After the condition has been fulfilled once, the action is executed cyclically in every interpolator clock
cycle for as long as the synchronized action is active.
Detailed description
3.2 Components of synchronized actions
Synchronized actions
Function Manual, 08/2018, 6FC5397-5BP40-6BA2 17

Frequency Meaning
WHEN If the condition is fulfilled, the action is executed once and then the condition is no longer checked.
EVERY In the following cases, the action is executed once:
● The condition is already satisfied at the start of the synchronized action (state: TRUE)
● At every state transition of the condition from FALSE to TRUE (rising edge)
1) Not programmed
See also
Technology cycles (Page 116)
3.2.3 G command (condition)
Defined initial state
With regard to the part program sequence, synchronized actions can be executed at any time
depending on fulfillment of the condition. It is therefore recommended that the measuring
system (inch or metric) be defined in a synchronized action before the condition and/or in the
action part. This generates a defined initial position for the evaluation of the condition and the
execution of the action, irrespective of the current part program state.
G commands
The following G commands are permissible:
●G70 (Inch dimensions for geometric specifications (lengths))
●G71 (Metric dimensions for geometric specifications (lengths))
●G700 (Inch dimensions for geometric and technological specifications (lengths, feedrate))
●G710 (Metric dimensions for geometric and technological specifications (lengths, feedrate))
Note
No other G commands are permitted in synchronized actions except G70, G71, G700 and
G710.
Validity
A G command programmed in the condition part also applies for the action part even if no G
command has been programmed in the action part itself.
A G command programmed in the action part only applies within the action part.
Detailed description
3.2 Components of synchronized actions
Synchronized actions
18 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

3.2.4 Condition
Execution of the action can be made dependent on the fulfillment of a condition. As long as
the synchronized action is active, the condition is checked cyclically in the interpolator clock
cycle. If no condition is specified, the action is executed cyclically in every interpolator clock
cycle.
All operations that return a truth value (TRUE/FALSE) as the result can be programmed as a
condition:
● Comparisons of system variables with constants
● Comparisons of system variables with system variables
● Comparisons of system variables with results of arithmetic operations
● Linking of comparisons through Boolean expressions
Examples
Comparisons
Program code
ID=1 WHENEVER $AA_IM[X] > $$AA_IM[Y] DO ...
ID=2 WHENEVER $AA_IM[X] > (10.5 * SIN(45)) DO ...
Boolean operations
Program code
ID=1 WHENEVER ($A_IN[1]==1) OR ($A_IN[3]==0) DO ...
See also
Reading and writing (Page 21)
Examples of conditions in synchronized actions (Page 137)
System variables for synchronized actions (Page 20)
3.2.5 G command (action)
Defined initial state
With regard to the part program sequence, synchronized actions can be executed at any time
depending on fulfillment of the condition. Therefore, it is advisable to define the required
measuring system (inch or metric) in the action part in a synchronized action. This generates
a defined initial position for the execution of the action, irrespective of the current part program
state.
Detailed description
3.2 Components of synchronized actions
Synchronized actions
Function Manual, 08/2018, 6FC5397-5BP40-6BA2 19

G commands
The following G commands are permissible:
●G70 (Inch dimensions for geometric specifications (lengths))
●G71 (Metric dimensions for geometric specifications (lengths))
●G700 (Inch dimensions for geometric and technological specifications (lengths, feedrate))
●G710 (Metric dimensions for geometric and technological specifications (lengths, feedrate))
Validity
A G command programmed in the condition part also applies for the action part even if no G
command has been programmed in the action part itself.
A G command programmed in the action part only applies within the action part.
3.2.6 Action (DO)
The action part of a synchronized action is initiated with the keyword DO.
One or more actions can be programmed in the action part. These are executed when the
appropriate condition is fulfilled. If several actions are programmed in one synchronized action,
they are all executed in the same interpolator clock cycle.
Example:
If the actual value of the Y axis is greater than or equal to 35.7, the auxiliary function M135 is
output on the PLC and, at the same time, digital output 1 = 1 is set.
Program code
WHEN $AA_IM[Y] >= 35.7 DO M135 $A_OUT[1]=1
Technology cycle
A technology cycle can be called as an action (see Section "Technology cycles (Page 116)").
3.3 System variables for synchronized actions
The system variables of the NC are listed in the "System Variables" Parameter Manual with
their respective properties. System variables that can be read or written in synchronized
actions, are marked with an "X" in the corresponding line (Read or Write) of the "SA"
(synchronized action) column.
Note
System variables used in synchronized actions are implicitly read and written synchronous to
the main run.
Detailed description
3.3 System variables for synchronized actions
Synchronized actions
20 Function Manual, 08/2018, 6FC5397-5BP40-6BA2