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10 MOTION SFC PROGRAMS
10.3 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
4.2.
• The first route to meet the transition condition is
executed after executing the step or transition
CALL Kn
preceding the branch.
IFBm
• Selective branch destinations should always be
IFT1
IFT2
started by transitions which must be either all
SFT Gn
Shift's or all WAIT's. (Mixed use of Shift and WAIT
CALL Fn
together will cause a 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 of the parallel
PAT2
branch output and shifts to the next step after all
CALL Fn'
routes in the parallel branch have been completed.
SFT Gn''
• A coupling may be preceded and followed by either
:
a step or a transition.
(JMP PAEm)
• When this coupling is preceded by an FS step,
PAEm
scans are executed while waiting for the parallel
CALL Fn''
branch to complete. After completed, scans are no
:
longer executed.
1) Normal jump
CALL Fn
JMP Pn
2) Coupling jump
CALL Fn'
Pn
CALL Kn
10 - 6
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 while waiting for
the completion of transition condition of the
jump destination.
• When a jump to another route within a parallel
branch takes place after a parallel branch, a
"coupling jump" occurs and execution waits at
the jump destination.
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