Motion Sfc Chart Symbol List - Mitsubishi Electric R16MTCPU Programming Manual

3.2

Motion SFC Chart Symbol List

Parts as Motion SFC program components are shown below. The operation sequence or transition control is expressed with
connecting these parts by directed lines in the Motion SFC program.
Classification Name
Program start/ START
end
END
Step Motion control step
Once execution type
operation control step
Scan execution type
operation control step
Subroutine call/start step
Clear step
Symbol
(Code size (byte))
Program name
(0)
END
(8)
Kn
(8)
Fn
(8)
FSn
(8)
Program name
(8)
CLR
Program name
(8)
Function
• Indicates an entry of program as a program name.
• Specify this program name at a subroutine call.
• Only one program name for one program.
• Indicates an end (exit) of program.
• When a subroutine call was carried out, returns to the call source
program.
• Multiple program names or no symbols for one program.
Starts a servo program Kn (K0 to K8191)
Execute once the operation control program Fn (F0 to F4095).
Repeats an operation control program FSn (FS0 to FS4095) until
the next transition condition enables.
• When the next of GSUB is WAIT, performs "subroutine call" and
transits control to the specified program. Control returns to the call
source program at END execution.
• When the next of GSUB is except WAIT, performs "subroutine
start", and starts the specified program and transits to the next
(lower part). The start source and destination programs are
executed simultaneously, and the call destination program ends at
END execution.
• Stops and ends the specified program running. After an end, it is
started from the initial (start step) by restarting the program.
• When the specified program is during "subroutine call", the
subroutine program is also stopped to execute.
• When the specified program is after "subroutine start", the
subroutine program is not stopped to execute.
• When clearing to the subroutine by which the "subroutine call"
was executed, the specified subroutine is stopped to execute,
returns to the call source program, and transits to the next.
3 MOTION SFC PROGRAMS
3.2 Motion SFC Chart Symbol List
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