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Transitions - Mitsubishi Electric Q173CPU Programming Manual

Q series motion controller.
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6 MOTION SFC PROGRAMS

6.6 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 "8 TRANSITION PROGRAMS" 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
• Specifiable bit devices
Device
X
Y
M
Special M
L
B
F
[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
OFF M0
with 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.
Range
X0 to X1FFF
Y0 to Y1FFF
M0 to M8191
M9000 to M9255
L0 to L8191
B0 to B1FFF
F0 to F2047
6 - 15

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