3 MOTION SFC PROGRAMS
3.9 Branches, Couplings
109
3
Parallel branch, parallel coupling
Parallel branch
Multiple routes connected in parallel are executed simultaneously. Each parallel branch destination may be started by either a
step or a transition.
"Shift" or "WAIT" can be set to a transition preceding a parallel branch. "WAITON" and "WAITOFF" cannot be
set.
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 jump). You cannot set a
jump to exit from within parallel branch-parallel coupling.
The number of parallel branches need not match that of couplings at a parallel coupling point. (In the example
of the diagram above, the number of parallel branches is 3 and that of couplings is 2.)
G1 G255
F10K2 K3 F1
G1
G2 G3 G255
G1
G0
Max. number of parallel branches = 255
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.
PAB1
PAE1
G1
K2
ON M100
K3
G3
K100
K5
K4 F10
G11
F11
G12
F12
Parallel branch point
Coupling jump
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
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