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3 MOTION SFC PROGRAMS
3.9 Branches, Couplings
Selective branch, selective coupling
Selective branch
Executes only the route which condition was judged to have enabled first among the conditions of multiple transitions
connected in parallel. Transitions must be all Shifts or WAITs.
WAIT
• Transition condition judgment is not always executed from left to right.
• Using Shift and WAIT together will cause a parallel branch.
• When judging transition condition by selective branch, the number of multi active steps is "number of
selective branches + 1". If the number of selective branches is 255, the number of multi active steps is 256.
Selective coupling
Recoupling of routes into a single route after their processing completions following a selective branch will be a selective
coupling. However, you can also make a setting where no coupling will be made as shown below.
K1
G1 G255
K255
K2
K3
K4
G1 G2 G3 G255
Starts the servo program K1.
Max. number of selective branches = 255
After start axis in the servo
program K1 has stopped (start
accept flag turns OFF), the
conditions of transitions G1 to
G255 are judged, and
execution transits to route
which condition is completed.
IFB1
IFE2
END
P0
P0
Program END
Jump transition (normal jump)
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