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4 MOTION SFC PROGRAMS
[Instructions]
• Always pair a transition with a motion control step one-for-one. If the step following
WAITON/WAITOFF is not a motion control step, the Motion SFC error (error code:
16102) will occur and the Motion SFC program running will stop at the error detection.
• An error will not occur if the jump destination immediately after WAITON/WAITOFF is
a motion control step. (Left below)
• A pointer may exist immediately after WAITON/WAITOFF. (Right below)
Pn
Pn
Kn
ON M0
Pn
Kn
Gn
• If the servo program specified with a motion control step could not be started due to a
major/minor error, the Motion SFC program continues running and execution shifts to
the next, independently of the WAITON/WAITOFF bit device status. To stop the
Motion SFC program at error detection, provide an error detection condition at the
next transition (transition condition).
• The following instructions can be used in the motion control step used combining the
WAITON/WAITOFF.
(Linear interpolation control, circular interpolation control, helical interpolation, speed
switching control, position follow-up control, constant-speed control, high speed
oscillation and speed control with fixed position stop.)
(2) Combination with operation control step
Fn
Gn
Fn
Gn
[Operations]
• At an operation control step, both Shift and
WAIT perform the same operation, and after
executing of the operation control program Fn,
transits to the next step by formation of
transition condition Gn.
(3) Combination with subroutine call/start step
Refer to Section "4.5.3 Subroutine call/start step".
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