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6 MOTION SFC PROGRAMS
6. MOTION SFC PROGRAMS
Refer to Chapter "19 ERROR CODE LISTS" for details of Motion SFC program error.
6.1 Motion SFC Program Configuration
The Motion SFC Program is constituted by the combination of start, steps, transitions,
end and others are shows below.
end and others are shows below.
Operation
start
Program
name
Positioning
ready check
Positioning
execution
Positioning
complete
check
Operation
end
F0
G0
K0
G1
END
START
: Entry of program.
Step (operation control step) : The specified operation
control program is executed at active status.
control program is executed at active status.
Transition (shift) : Condition to transit to the next step.
Step (motion control step) : The specified servo
program is executed at active status.
program is executed at active status.
Transition (WAIT) : Condition to transit to the next step.
END : Program end.
SET Y0=X0+X10
D100=W0+W100
D100=W0+W100
Y0 M100
ABS-1
Axis1, D100
Speed 10000
Axis1, D100
Speed 10000
!X0
Positioning
ready
The above Motion SFC program to be started performs the following operations.
(1) The step (F0) is activated and the operation specified with the step (F0) is
(1) The step (F0) is activated and the operation specified with the step (F0) is
executed (positioning ready). A step in such an active state is called an active
step.
step.
(2) Whether the condition specified with the transition (G0) has enabled or not
(whether the positioning program can be started or not) is checked. The active
step (F0) is deactivated at the completion of condition and the next step (K0) is
activated (servo program (K0) is started).
step (F0) is deactivated at the completion of condition and the next step (K0) is
activated (servo program (K0) is started).
(3) The operating completion of the step (K0) (positioning completion of the servo
program K0) is checked, and control transits to the next step at operating
completion (completion of condition).
completion (completion of condition).
(4) With the transition of the active step as described in above (1) to (3), control is
executed and ends at END.
Refer to Section "11.2.2 Task operation" for details of the execution timing of the
Motion SFC program such as above.
Motion SFC program such as above.
POINT
The number of steps which can be active steps simultaneously is up to 256, with
those of all Motion SFC programs combined. Excess of 256 will result in the Motion
SFC Program error 16120.
Each symbol of the Motion SFC program is as follows.
F/FS : Operation control, K : Positioning control, G : Judgment
those of all Motion SFC programs combined. Excess of 256 will result in the Motion
SFC Program error 16120.
Each symbol of the Motion SFC program is as follows.
F/FS : Operation control, K : Positioning control, G : Judgment
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