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6 MOTION SFC PROGRAMS
6.9.2 Selective branch, selective coupling
(1) Selective branch
Executes only the route which condition was judged to have enabled first among
the conditions of multiple transitions connected in parallel. Transitions must be all
Shifts or WAITs.
(Example) WAIT
K1
G1 G255
K255K2 K3 K4
Max. number of selective branches = 255
Starts the servo program K1.
G1 G2 G3 G255
After start axis in the servo
program K1 has stopped (start
accept flag turns OFF), the
conditions of transitions G1 to
G255 are judged, and
execution transits to route
which condition is completed.
POINT
(1) Transition condition judgment is not always executed from left to right.
(2) Using Shift and WAIT together will cause a parallel branch.
(2) Selective coupling
Recoupling of routes into a single route after their processing completions
following a selective branch will be a selective coupling. However, you can also
make a setting where no coupling will be made as shown below.
G255
G255
G255
IFB1
IFE2
END
Program END
Jump transition (normal jump)
P0
P0