Branch And Coupling Chart List - Mitsubishi Electric R16MTCPU Programming Manual

3.3

Branch and Coupling Chart List

Branch and coupling patterns which specify step and transition sequences in the Motion SFC charts are shown below.
Classification Name
(Code size (byte))
Basic type Series transition
(Corresponding symbol size)
Selective branch
((Number of branches + 2)  10)
Selective coupling
(8)
Parallel branch
(Number of branches  22 +
number of coupling points  2 + 12)
Parallel coupling
(8)
Jump transition
(Corresponding symbol size)
Motion SFC chart symbol
IFBm
IFT1 IFT2
IFEm
PABm
PAT1 PAT2
PAEm
[Normal jump]
[Coupling jump]
Function
• 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.
• 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.)
• 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.
• Multiple routes (steps) connected in parallel
are executed simultaneously.
• Each parallel branch destination may be
started by either a step or transition.
• 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]
• 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.
[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.
3 MOTION SFC PROGRAMS
3.3 Branch and Coupling Chart List
3
95