Permissible NC commands within a real-time loop

Only the following NC commands are permitted within a real-time loop.

• Motion blocks G00, G01, G02, G03
• #SIGNAL SYN / #WAIT SYN
• Write an external variable V.E. =
• #OPTIONAL EXECUTION [ SIMULATE ]
• #CHANNEL SET [ FAST_FORWARD_IN_CENTER= ]
• #SPLINE ON/OFF
• #STOP REVERSIBLE

No spline mechanism may be active when #RT WHILE/ #RT ENDWHILE is programmed. If the spline mechanism is active, #RT WHILE will result in error with ID 22128; #RT ENDWHILE will result in error with ID 22129.

Only the NC commands listed are permissible. Error ID 22073 is output if other NC commands are programmed.