6 MOTION SFC PROGRAMS
6.9.3 Parallel branch, parallel coupling
(1) Parallel branch
Multiple routes connected in parallel are executed simultaneously. Each parallel
branch destination may be started by either a step or a transition.
Max. number of parallel branches = 255
"Shift" or "WAIT" can be set to a transition preceding a parallel branch.
"WAITON" and "WAITOFF" cannot be set.
(2) Parallel coupling
A parallel branch must be coupled by a parallel coupling. A jump setting to
another branch route can be made within parallel branch-parallel coupling.
In this case, a jump destination is a midway parallel coupling point (coupling
You cannot set a jump to exit from within parallel branch-parallel coupling.
6 - 20
After operation completion of
preceding step, steps K2 to
F10 connected in parallel are
executed when the completion
of condition set at transition
G0. Thereafter, routes are
executed simultaneously up to
parallel coupling point.
Parallel branch point
After the servo program K3 has
completed stopping, execution waits
until the completion of condition set
at transition G3 and servo program
K4 completes starting.
On completion of waiting, execution
transits to the next (lower part).
Parallel coupling point