Mitsubishi Electric R16MTCPU Programming Manual page 106

Precautions
• 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 minor error (SFC) (error code:33F2H) 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)
ON M0
Pn
Pn
Kn
• If the servo program specified with a motion control step could not be started due to 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, position follow-up control, continuous trajectory
control, high speed oscillation and speed control with fixed position stop.)
Combination with operation control step
Processing details
• 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.
Fn
Gn
Combination with subroutine call/start step
Refer to the subroutine call/start step for the combination with subroutine call/start step. (Page 101 Subroutine call/start
step)
3 MOTION SFC PROGRAMS
104
3.6 Transitions
Gn
Kn
Fn
Gn
Pn