在一个扫描周期内同步两两次:第一-次在逻辑执行之前，第二次在执行后。CPU的错误，比如说进入-一个死循环，会被另–个同步的CPU发现并认为同步将失败。另一个CPU等待本CPU执行的时间被定义为“失败等待时间”。此时间的长度必须在首要单元和次要单元中被配置，时间的长度可以在60ms到400ms之间，以10ms为增量，默认是60ms。
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