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6 MOTION SFC PROGRAMS
POINT
The number of parallel branches need not match that of couplings at a parallel
coupling point.
(In the example of the diagram in Section 6.9.3 (2), the number of parallel branches
is 3 and that of couplings is 2.)
When a WAIT transition is set right after a parallel coupling, the stop completions of the
axes are not included in the waiting conditions if the parallel coupling is preceded by
motion control steps. To perform a parallel coupling on stop completions, set WAIT
transitions before a parallel coupling.
(
)
K5
K4K3K2
G1
Parallel coupling
If this is WAIT, stop completions of axes started at K2 to K5
are not included in transition conditions.
(
)
K5
K4K3K2
G1
Parallel coupling
When you want to perform a coupling
on stop completions of axes started in
K2 to K5, set WAIT transition in each
route to make parallel coupling.
G2 G3 G4 G5