Mitsubishi Electric R16MTCPU Programming Manual page 112

When a WAIT transition is set right after a parallel coupling, the stop completions of the axes are not included in the waiting
conditions if the parallel coupling is preceded by motion control steps. To perform a parallel coupling on stop completions, set
WAIT transitions before a parallel coupling.
(ª)
K2
If this is WAIT, stop completions of axes started at K2 to K5
G1
are not included in transition conditions.
( ¨ )
K2
G2
G1
3 MOTION SFC PROGRAMS
110
3.9 Branches, Couplings
K3 K4
K3 K4
G3 G4
K5
Parallel coupling
K5
When you want to perform a
coupling on stop completions
of axes started in K2 to K5,
set WAIT transition in each
G5
route to make parallel coupling.
Parallel coupling