Transitions - Mitsubishi Electric R16MTCPU Programming Manual

3.6

Transitions

You can describe conditional and operation expressions at transitions. The operation expression described here is repeated
until the transition condition enables, as at the scan execution type operation step. Refer to the transition programs for the
conditional/operation expressions that can be described in transition conditions. (Page 282 TRANSITION PROGRAMS)
Combinations with motion control steps
Processing details
■Motion control step + Shift
• Transits to the next step by formation of transition condition Gn without waiting for the operating completion of the servo
program Kn started at the motion control step.
Kn
Gn
■Motion control step + WAIT
• Waits for the operating completion of the servo program Kn started at the motion control step, and then transits to the next
step by formation of transition condition Gn.
• The operation completion condition of the servo program Kn is not needed in the transition condition Gn.
• An error stop of the started servo program Kn at/during a start is also regarded as an operation completion.
Kn
Gn
■WAITON/WAITOFF + Motion control step
• Prepares for the start of the motion control step next to WAITON/WAITOFF, and makes a start immediately when the
specified bit device turns ON/OFF. When the motion control step is executed without being used with WAITON/WAITOFF,
preparations for a start are made after the transition condition preceding the motion control step enables. This will cause a
variation of delay/starting time between when the transition condition is completed and when a start is made, but a
combination with WAITON/WAITOFF can eliminate the variation of the above delay/starting time.
• Refer to the following for details of bit devices which can be set to WAITON/WAITOFF.
MELSEC iQ-R Motion Controller Programming Manual (Common)
ON M0 OFF M0
Kn Kn
3 MOTION SFC PROGRAMS
3.6 Transitions
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