Siemens SINUMERIK 840D sl Programming Manual page 428

Motion synchronous actions
10.1 Structure, basic information
• Setting up safety functions
• ....
Programming
DO action1 action2 ...
KEYWORD condition DO action1 action2 ...
ID=n KEYWORD condition DO action1 action2 ...
IDS=n KEYWORD condition DO action1 action2 ...
Command elements
Identification number ID/IDS:
ID=n
IDS=n
Without ID/IDS
Keyword:
No keyword
WHEN, WHENEVER, FROM, EVERY,
Condition:
Main run variable.
The variables used are evaluated in the interpolation cycle. Main run variables in
synchronized actions do not trigger a preprocessing stop.
Analysis:
If main run variables occur in a part program (e.g. actual value, position of a digital input or
output etc.), preprocessing is stopped until the previous block has been executed and the
values of the main run variables obtained.
DO:
Initiation of the action
Coordination of synchronized actions/technology cycles:
CANCEL[n]
LOCK[n]
UNLOCK[n]
RESET
Example
WHEN $AA_IW[Q1]>5 DO M172 H510
10-2
Modal synchronized actions in automatic mode,
local to program; n = 1... 255
Modal synchronized actions in each mode,
static; n = 1... 255
Non-modal synchronized actions in automatic mode
Execution of the action is not subject to any
condition. Cyclical execution in the IPO cycle.
Querying frequency of the action to be started
Cancel synchronized actions
Disable synchronized actions
Unlock synchronized actions
Reset technology cycle
;If the actual value of axis Q1 exceeds 5 mm,
auxiliary functions M172 and H510 are output to
the PLC interface.
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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