6 MOTION SFC PROGRAMS
6. MOTION SFC PROGRAMS
Refer to Chapter "19 ERROR CODE LISTS" for details of Motion SFC program error.
6.1 Motion SFC Program Configuration
The Motion SFC Program is constituted by the combination of start, steps, transitions,
end and others are shows below.
The above Motion SFC program to be started performs the following operations.
(1) The step (F0) is activated and the operation specified with the step (F0) is
(2) Whether the condition specified with the transition (G0) has enabled or not
(3) The operating completion of the step (K0) (positioning completion of the servo
(4) With the transition of the active step as described in above (1) to (3), control is
Refer to Section "11.2.2 Task operation" for details of the execution timing of the
Motion SFC program such as above.
The number of steps which can be active steps simultaneously is up to 256, with
those of all Motion SFC programs combined. Excess of 256 will result in the Motion
SFC Program error 16120.
Each symbol of the Motion SFC program is as follows.
START : Entry of program.
Step (operation control step) : The specified operation
control program is executed at active status.
Transition (shift) : Condition to transit to the next step.
Step (motion control step) : The specified servo
program is executed at active status.
Transition (WAIT) : Condition to transit to the next step.
END : Program end.
executed (positioning ready). A step in such an active state is called an active
(whether the positioning program can be started or not) is checked. The active
step (F0) is deactivated at the completion of condition and the next step (K0) is
activated (servo program (K0) is started).
program K0) is checked, and control transits to the next step at operating
completion (completion of condition).
executed and ends at END.
F/FS : Operation control, K : Positioning control, G : Judgment
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