Transitions - Mitsubishi Electric Melsec Q Series Programming Manual

4 MOTION SFC PROGRAMS

4.6 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 Chapter 6 for the conditional/operation expressions that can be described in
transition conditions.
(1) Combinations with motion control steps
(a) Motion control step + Shift
Kn
Gn
(b) Motion control step + WAIT
Kn
Gn
(c) WAITON/WAITOFF + Motion control step
ON M0
Kn
[Operations]
• 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.
[Operations]
• 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.
[Operations]
• 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
OFF M0 WAITON/WAITOFF, preparations for a start
are made after the transition condition
Kn
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.
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