Branch And Coupling Chart List - Mitsubishi Electric Q173CPU Programming Manual

Q series motion controller
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6 MOTION SFC PROGRAMS

6.3 Branch and Coupling Chart List

Name
(Code size (byte))
Series transition
(Corresponding
symbol size)
Selective branch
((Number of
branches + 2)
10)
Selective coupling
(8)
Parallel branch
(Number of
Basic
branches 22 +
type
number of
coupling
points 2 + 12)
Parallel coupling
(8)
Jump transition
(Corresponding
symbol size)
Branch and coupling patterns which specify step and transition sequences in the
Motion SFC charts are shown below.
Motion SFC chart symbol
IFBm
IFT1
IFEm
PABm
PAT1
PAEm
<Normal jump>
<Coupling jump>
List
representation
• Steps and transitions connected in series are
List
processed in order from top to bottom.
representation
• Steps and transitions need not be lined up
corresponding to
alternately.
the Motion SFC
• When a transition is omitted, unconditional shift
chart symbols
processing is performed.
shown in Section
6.2.
• The route which transition condition enables first is
executed after executing the step or transition
CALL Kn
preceding a branch.
IFBm
• Selective branch destinations should always be
IFT1
IFT2
started by transitions, all of which must be Shift or
SFT Gn
WAIT. (Using Shift and WAIT together will cause a
CALL Fn
parallel branch.)
:
JMP IFEm
• After the route branched by a selective branch has
IFT2
been processed, execution shifts to a coupling
SFT Gn'
point.
CALL Fn'
• A coupling may be preceded and followed by either
:
a step or a transition.
(JMP IFEm)
IFEm
CALL Fn''
• Multiple routes (steps) connected in parallel are
CALL Kn
executed simultaneously.
PABm
• Each parallel branch destination may be started by
PAT1
either a step or transition.
PAT2
CALL Fn
SFT Gn'
:
JMP PAEm
• Execution waits at the coupling point for executions
PAT2
of the routes branched by a parallel branch to be
CALL Fn'
completed, and shifts to the next when executions
SFT Gn''
of all routes are completed.
:
• A coupling may be preceded and followed by either
(JMP PAEm)
a step or a transition.
PAEm
• When this coupling is preceded by an FS step,
CALL Fn''
scans are executed during waiting. After waiting is
:
complete, scans are not executed.
1) Normal jump
CALL Fn
JMP Pn
2) Coupling jump
CALL Fn'
Pn
CALL Kn
6 - 5
Function
• 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.
• 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.

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