Parallel Branch, Parallel Coupling - Mitsubishi Electric R16MTCPU Programming Manual

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.
G1
G0
K2 K3
G1
G1 G2
Max. number of parallel branches = 255
"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.
G1
PAB1
K2
ON M100
K3
G3
K100
PAE1
K5
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.)
F1
G3
K4 F10
G11
F11
G12
F12
After operation completion of
preceding step, steps K2 to
F10
F10 connected in parallel are
executed when the completion
of condition set at transition
G255
G255
G0. Thereafter, routes are
executed simultaneously up to
parallel coupling point.
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
3 MOTION SFC PROGRAMS
3.9 Branches, Couplings
3
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