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6 MOTION SFC PROGRAMS
Classification
Name
Symbol
(Code size (byte))
List representation Function
Shift
(Pre-read
transition)
Gn
(8)
SFT Gn
• When just before is the motion control step, transits to
the next step by formation of transition condition Gn
(G0 to G4095) without waiting for the motion operating
completion.
• When just before is the operation control step, transits
to the next step by the completion of transition
condition after operating execution.
• When just before is "subroutine call" / "starting step",
transits to the next step by formation of transition
condition without waiting for the operating completion
of subroutine.
WAIT
Gn
(8)
WAIT Gn
• When just before is the motion control step, waits for
the motion operating completion and then transits to
the next step by the completion of transition condition
Gn (G0 to G4095).
• When just before is the operation control step, transits
to the next step by formation of transition condition after
operating execution. (Same operation as Shift.)
• When just before is "subroutine call" or "starting step",
waits for the operating completion of subroutine and
then transits to the next step by the completion of
transition condition.
WAITON
ON bit device
Kn
(14)
WAITON bit device
• Prepares for starting of the next motion control step,
and issues an instruction immediately when the
specified bit device turns ON.
• Always pair this transition with the motion control step
one-for-one.
WAITOFF
OFF bit device
Kn
(14)
WAITOFF bit device
• Prepares for starting of the next motion control step,
and issues an instruction immediately when the
specified bit device turns OFF.
• Always pair this transition with the motion control step
one-for-one.
Transition
Shift Y/N
Gn
Y
N
(Not
completion
of condition)
(Completion
of condition)
IFBm
IFT1
SFT Gn
:
JMP IFEm
IFT2
SFT Gn+?
:
JMP IFEm
IFEm
• When just before is the motion control step, transits to
the next step by formation of transition condition Gn
(G0 to G4095) without waiting for the motion operating
completion. If not formation of transition condition,
transits to the right-connected step.
• When just before is the operation control step, transits
to the next step by the completion of transition
condition after operating execution. If not the
completion of transition condition, transits to the right-
connected step.
• When just before is "subroutine call" or "starting step",
transits to the next step by the completion of transition
condition without waiting for the operating of subroutine
completion. If not formation of transition condition,
transits to the right-connected step.