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6 MOTION SFC PROGRAMS
6.3 Branch and Coupling Chart List
Branch and coupling patterns which specify step and transition sequences in the
Motion SFC charts are shown below.
Name
(Code size (byte))
Motion SFC chart symbol
List
representation
Function
Series transition
(Corresponding
symbol size)
List
representation
corresponding to
the Motion SFC
chart symbols
shown in Section
6.2.
• Steps and transitions connected in series are
processed in order from top to bottom.
• Steps and transitions need not be lined up
alternately.
• When a transition is omitted, unconditional shift
processing is performed.
Selective branch
((Number of
branches + 2)
10)
IFBm
IFT1 IFT2
• The route which transition condition enables first is
executed after executing the step or transition
preceding a branch.
• Selective branch destinations should always be
started by transitions, all of which must be Shift or
WAIT. (Using Shift and WAIT together will cause a
parallel branch.)
Selective coupling
(8)
IFEm
CALL Kn
IFBm
IFT1
SFT Gn
CALL Fn
:
JMP IFEm
IFT2
SFT Gn’
CALL Fn’
:
(JMP IFEm)
IFEm
CALL Fn’’
• After the route branched by a selective branch has
been processed, execution shifts to a coupling
point.
• A coupling may be preceded and followed by either
a step or a transition.
Parallel branch
(Number of
branches
22 +
number of
coupling
points
2 + 12)
PABm
PAT1 PAT2
• Multiple routes (steps) connected in parallel are
executed simultaneously.
• Each parallel branch destination may be started by
either a step or transition.
Parallel coupling
(8)
PAEm
CALL Kn
PABm
PAT1
CALL Fn
SFT Gn’
:
JMP PAEm
PAT2
CALL Fn’
SFT Gn’’
:
(JMP PAEm)
PAEm
CALL Fn’’
:
• Execution waits at the coupling point for executions
of the routes branched by a parallel branch to be
completed, and shifts to the next when executions
of all routes are completed.
• A coupling may be preceded and followed by either
a step or a transition.
• When this coupling is preceded by an FS step,
scans are executed during waiting. After waiting is
complete, scans are not executed.
<Normal jump>
<Coupling jump>
CALL Fn
JMP Pn
Basic
type
Jump transition
(Corresponding
symbol size)
CALL Fn’
Pn
CALL Kn
1) Normal jump
• After the step or transition preceding this jump
transition is executed, execution shifts to the
pointer Pn specified within its own program.
• The jump destination may either be a step or
transition.
• When a jump takes place from an FS step to a
transition, scans are executed during waiting for
the completion of transition condition of the
jump destination.
2) Coupling jump
• When a jump to the other route within a parallel
branch takes place after the parallel branch, a
"coupling jump" takes place and execution waits
at the jump destination.