Siemens Sinumerik 840D sl Function Manual page 306

Connecting Sensors/Actuators
7.5 Safe programmable logic (SPL)
Table 7-9
Synchronized action
CANCEL
IDS
WHENEVER
WHEN
EVERY
FROM
DO
No subprograms, i.e. technology cycles can be called in the action section. No axes can
be traversed and no auxiliary functions can be output.
The following value assignments are possible:
-- R parameters
-- $AC_PARAM[ ]
-- $AC_MARKER[ ]
-- all Synact GUDs
-- all safety system variables that can be written to and G functions
G function
G70
G71
G700
G710
G04 F
End of program
ENDPROC
RET
M17
M02
M30
7-306
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
Permissible language commands for SAFE.SPF, continued
;Delete synchronized actions
;Static synchronized action
;A number range is not monitored
;The action is cyclically executed in each ipo clock cycle,
;as long as the appropriate condition is fulfilled.
;If the condition is fulfilled, then the action is
;executed once.
;The action is activated once if the condition is fulfilled.
;The action is executed again if the condition changes
;from the false state into the true state.
;If the condition has been fulfilled once, the action is
;executed cyclically in every interpolation clock cycle for
;as long as the synchronized action remains active.
;Start of the action section
;Inch dimensions (group 13)
;Metric dimensions (group 13)
;Inch dimensions also F (group 13)
;Metric dimensions also F (group 13)
;Dwell time (group 2)
;End line of program with start line PROC
;Without output to the PLC
;The RET command can now also be programmed
;without parameter in a main program.
;No output to the PLC
;No output to the PLC
;No output to the PLC
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