Selective Branch, Selective Coupling - Mitsubishi Electric R16MTCPU Programming Manual

Selective branch, selective coupling

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.
Ex.
WAIT
Starts the servo program K1.
K1
G1
G1
K2
Max. number of selective branches = 255
• Transition condition judgment is not always executed from left to right.
• Using Shift and WAIT together will cause a parallel branch.
• When judging transition condition by selective branch, the number of multi active steps is "number of
selective branches + 1". If the number of selective branches is 255, the number of multi active steps is 256.
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.
IFB1
END
IFE2
3 MOTION SFC PROGRAMS
108
3.9 Branches, Couplings
G2 G3
K3 K4
P0
P0
Program END
G255
G255
K255
Jump transition (normal jump)
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.