Omron WS02-CXPC1-V8 OPERATION MANUAL

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Cat. No. W469-E1-04

SYSMAC

CX-Programmer Ver. 8.1

WS02-CXPC1-V8

Operation Manual

SFC Programming

CX-Programmer Ver. 8.1

WS02-CXPC1-V8

Operation Manual

SFC Programming

Revised February 2009

TABLE OF CONTENTS

About this Manual:...................................................................................................................................................v

Read and Understand this Manual..........................................................................................................................vi

Warranty and Limitations of Liability .....................................................................................................................vi

Application Considerations ....................................................................................................................................vii

Disclaimers............................................................................................................................................................viii

SECTION 1 Overview......................................................................... 1

1-1 SFC Overview..................................................................................................................................................2

1-2 CX-Programmer Specifications........................................................................................................................6

1-3 Window Components.......................................................................................................................................8

1-4 SFC Programming Example...........................................................................................................................27

1-5 Precautions When Creating SFC Programs....................................................................................................33

SECTION 2 SFC Fundamentals....................................................... 41

2-1 SFC Basic Operation......................................................................................................................................42

2-2 Basic SFC Execution Cycle............................................................................................................................43

2-3 Elements of SFC............................................................................................................................................. 44

SECTION 3 Offline Operations ....................................................... 63

3-1 Creating an SFC Program...............................................................................................................................64

3-2 Editing the SFC Chart ....................................................................................................................................67

3-3 Searching and Replacing within an SFC Chart ..............................................................................................88

3-4 Offline Program Check...................................................................................................................................90

3-5 Miscellaneous.................................................................................................................................................91

SECTION 4 Online Operations........................................................ 93

4-1 Connecting the PLC ....................................................................................................................................... 94

4-2 Transferring Programs from Computer to PLC.............................................................................................. 95

4-3 Transferring Programs from PLC to Computer.............................................................................................. 96

4-4 Comparing Programs...................................................................................................................................... 97

4-5 Monitoring ......................................................................................................................................................98

SECTION 5 Debug Operations...................................................... 103

5-1 Online Editing .............................................................................................................................................. 104

5-2 Force Setting/Force-Resetting......................................................................................................................113

5-3 Set Step Timer Value....................................................................................................................................115

5-4 Work Online Simulator ................................................................................................................................ 116

iii

Appendix A.........................................................................................117

Specifications for Step Control Instructions......................................................................................................... 117

Appendix B .........................................................................................123

SFC Task Control Instruction Specifications ....................................................................................................... 123

Appendix C.........................................................................................128

SFC Program Size and Execution Time ............................................................................................................... 128

Index.................................................................................................... 131

Revision History.................................................................................135

About this Manual:

SFC programming functions have been added to the CX-Programmer. This manual describes the specifications of the SFC language, and the CX-Programmer operations related to the SFC programming functions. For operations not related to SFC programming, refer to the CX-Programmer Operation Manual (Cat. No. W446).

For details on operations related to function blocks and structured text, refer to the CX-Programmer Operation Manual Function Blocks/Structured Texts (Cat. No. W447).

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of installing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of managing FA systems and facilities.

Caution

Please read this manual and related manuals carefully and be sure you understand the information provided before attempting to install or operate the CX-Programmer, the CJ2 Units with unit version 1.0 or later, or the CS1-H, CJ1-H, or CJ1M CPU Units with unit version 4.0 or later. Be sure to read the precautions provided in the following section.

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON

representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

(1) The warranty period for the Software is one year from either the date of purchase or the date

on which the Software is delivered to the specified location.

(2) If the User discovers a defect in the Software (i.e., substantial non-conformity with the

manual), and returns it to OMRON within the above warranty period, OMRON will replace the

Software without charge by offering media or downloading services from the Internet. And if

the User discovers a defect in the media which is attributable to OMRON and returns the

Software to OMRON within the above warranty period, OMRON will replace the defective media

without charge. If OMRON is unable to replace the defective media or correct the Software, the

liability of OMRON and the User’s remedy shall be limited to a refund of the license fee paid to

OMRON for the Software.

LIMITATIONS OF LIABILITY

(1) THE ABOVE WARRANTY SHALL CONSTITUTE THE USER’S SOLE AND EXCLUSIVE

REMEDIES AGAINST OMRON AND THERE ARE NO OTHER WARRANTIES, EXPRESSED OR

IMPLIED, INCLUDING BUT NOT LIMITED TO, WARRANTY OF MERCHANTABILITY OR FITNESS

FOR A PARTICULAR PURPOSE. IN NO EVENT WILL OMRON BE LIABLE FOR ANY LOST

PROFITS OR OTHER INDIRECT, INCIDENTAL, SPECIAL, OR CONSEQUENTIAL DAMAGES

ARISING OUT OF USE OF THE SOFTWARE.

(2) OMRON SHALL ASSUME NO LIABILITY FOR DEFECTS IN THE SOFTWARE BASED ON

MODIFICATION OR ALTERATION OF THE SOFTWARE BY THE USER OR ANY THIRD PARTY.

(3) OMRON SHALL ASSUME NO LIABILITY FOR SOFTWARE DEVELOPED BY THE USER OR ANY

THIRD PARTY BASED ON THE SOFTWARE OR ANY CONSEQUENCE THEREOF.

Application Considerations

SUITABILITY FOR USE

THE USER SHALL NOT USE THE SOFTWARE FOR A PURPOSE THAT IS NOT DESCRIBED IN THE

ATTACHED USER MANUAL.

vii

Disclaimers

CHANGE IN SPECIFICATIONS

The software specifications and accessories may be changed at any time based on improvements

or for other reasons.

EXTENT OF SERVICE

The license fee of the Software does not include service costs, such as dispatching technical

staff.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate;

however, no responsibility is assumed for clerical, typographical, or proofreading errors, or

omissions.

viii

Manuals Related to the CX-Programmer

Name Cat. No. Contents SYSMAC WS02-CXPC1-V8 CX-Programmer Operation Manual: SFC

SYSMAC WS02-CXPC1-V8 CX-Programmer Ver. 8.1 Operation Manual Function Blocks/Structured Texts

SYSMAC WS02-CXPC1-V8 CX-Programmer Ver. 8.1 Operation Manual

CX-Integrator Operation Manual CXONE-AL@@C-V3 CXONE-AL@@D-V3

CX-One Setup Manual CXONE-AL@@C-V3 CXONE-AL@@D-V3

W469

(this

manual)

W447

W446 Describes the general CX-Programmer version 8.1

W464 Describes operating procedures for the CX-Integrator

W463 Installation and overview of CX-One FA Integrated

Explains how to use the SFC programming functions. For explanations of other shared CX-Programmer functions, refer to the CX-Programmer Operation Manual (W446). Describes the function block functions and structured text programming functions that can be used with the

CX-Programmer version 8.1. For details on other

CX-Programmer functions, refer to the CX-Programmer Ver. 8.1 Operation Manual (Cat. No. W446).

operations that are not specifically related to SFC programming, function block functions, and structured text programming functions.

Network Configuration Tool for CS-, CJ-, CP-, and NSJ-series Controllers.

Tool Package.

Manuals Related to the CJ2, CS1-H, CJ1-H, CJ1M PLCs

Name Cat. No. Contents SYSMAC CJ Series CJ2H-CPU6@-EIP, CJ2H-CPU6@ Programmable Controllers Hardware User’s Manual

SYSMAC CJ Series CJ2H-CPU6@-EIP, CJ2H-CPU6@ Programmable Controllers Software User’s Manual

SYSMAC CS/CJ Series CS1G/H-CPU@@-EV1, CS1G/H-CPU@@H, CS1D-CPU@@H, CS1D-CPU@@S, CJ2H-CPU6@-EIP, CJ2H-CPU6@, CJ1H-CPU@@H-R CJ1G-CPU@@, CJ1G/H-CPU@@H, CJ1G-CPU@@P, CJ1M-CPU@@ SYSMAC One NSJ Series NSJ@-@@@@ (B)-G5D NSJ@-@@@@ (B)-M3D Programmable Controllers Instructions Reference Manual SYSMAC CS Series CS1G/H-CPU@@-EV1, CS1G/H-CPU@@H Programmable Controllers Operation Manual

SYSMAC CJ Series CJ1G-CPU@@, CJ1G/H-CPU@@H, CJ1G-CPU@@ P, CJ1M-CPU@@ Programmable Controllers Operation Manual

SYSMAC CS/CJ Series CS1G/H-CPU@@-EV1, CS1G/H-CPU@@H, CJ1G-CPU@@, CJ1G/H-CPU@@H, CJ1G-CPU@@P, CJ1M-CPU@@ Programmable Controllers Programming Manual

W472 Provides an outline of and describes the design,

installation, maintenance, and other basic operations for the CJ-series CJ2 CPU Units. The following information is included: Overview and features System configuration Installation and wiring Troubleshooting Use this manual together with the W473.

W473 Describes programming and other methods to use the

functions of the CJ2 CPU Units. The following information is included: CPU Unit operation Internal memory areas Programming Tasks CPU Unit built-in functions Use this manual together with the W472.

W474 Describes the ladder diagram programming instructions

supported by CS/CJ-series or NSJ-series PLCs. When programming, use this manual together with the Operation Manual or Hardware User’s Manual (CS1: W339, CJ1: W393,or CJ2:W472) and Programming Manual or Software User’s Manual (CS1/CJ1:W394 or CJ2:W473).

W339 Provides an outline of and describes the design,

installation, maintenance, and other basic operations for the CS-series PLCs. The following information is included: An overview and features The system configuration Installation and wiring I/O memory allocation Troubleshooting

Use this manual together with the W394.

W393 Provides an outline of and describes the design,

installation, maintenance, and other basic operations for the CJ-series PLCs. The following information is included: An overview and features The system configuration Installation and wiring I/O memory allocation Troubleshooting

Use this manual together with the W394.

W394 Describes programming and other methods to use the

functions of the CS/CJ-series PLCs. The following information is included: Programming Tasks File memory Other functions

Use this manual together with the W339 or W393.

Name Cat. No. Contents SYSMAC CS/CJ Series CS1G/H-CPU@@ -EV1, CS1G/H-CPU@@H, CJ1G-CPU@@, CJ1G/H-CPU@@H, CJ1G-CPU@@P, CJ1M-CPU@@ Programmable Controllers Instructions Reference Manual SYSMAC CS/CJ Series CS1G/H-CPU@@-EV1, CS1G/H-CPU@@H, CS1W-SCB21-V1/41-V1, CS1W-SCU21/41, CJ2H-CPU6@-EIP, CJ2H-CPU6@, CJ1G-CPU@@, CJ1G/H-CPU@@H, CJ1G-CPU@@P, CJ1M-CPU@@, CJ1W-SCU21-V1/41-V1 Communications Commands Reference Manual

W340 Describes the ladder diagram programming instructions

supported by CS/CJ-series PLCs. When programming, use this manual together with the

Operation Manual (CS1: W339 or CJ1: W393) and Programming Manual (Cat. No. W394).

W342 Describes the communications commands that can be

addressed to CS/CJ-series CPU Units. The following information is included: C-series (Host Link) commands FINS commands Note: This manual describes commands that can be sent

to the CPU Unit without regard for the communications path, which can be through a serial communications port on the CPU Unit, a communications port on a Serial Communications Unit/Board, or a port on any other Communications Unit.

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

DANGER

WARNING

Caution

Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Additionally, there may be severe property damage.

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

xii

WARNING

Caution

Confirm safety thoroughly in advance when using the CX-Programmer to transfer any I/O memory data to the actual PLC. Changes to the PLC’s I/O memory may result in unexpected operation of devices connected to Output Units, regardless of the PLC’s operating mode. The following functions require particular caution when using the CX-Programmer to transfer data to the CPU Unit’s I/O memory.

• Transferring data from the CX-Programmer to the CPU Unit’s CIO Area (with the PLC Memory Window function)

• Transferring data from a Memory Card or EM file memory to the CPU Unit's CIO Area (with the Memory Card Window function)

Confirm safety at the destination node before transferring a program to another node or changing contents of the I/O memory area. Doing either of these without confirming safety may result in injury.

Execute online editing only after confirming that no adverse effects will be caused by extending the cycle time. Otherwise, the input signals may not be readable.

xiii

Application Precautions

Observe the following precautions when using the CX-Programmer’s SFC functions.

• As a rule, the outputs of actions are reset when a step is changed from active status to inactive status. When changing an output’s hold/reset setting, change the initial setting or add reset processing as necessary. When making changes, verify the operational timing of actions in the preceding and following steps.

Note: Refer to 1-5-1 Holding or Resetting an Action's Outputs and 1-5-2 Action Program

Precautions for details.

• Observe the following precautions before starting the CX-Programmer.

• Exit all applications not directly related to the CX-Programmer. Particularly exit any software such as screen savers, virus checkers, E-mail or other communications software, and schedulers or other applications that start up periodically or automatically.

• Disable sharing hard disks, printers, or other devices with other computers on any network.

• With some notebook computers, the RS-232C port is allocated to a modem or an infrared line by default. Following the instructions in documentation for your computer and enable using the RS-232C port as a normal serial port.

• With some notebook computers, the default settings for saving energy do not supply the rated power to the RS-232C port. There may be both Windows settings for saving energy, as well as setting for specific computer utilities and the BIOS. Following the instructions in documentation for your computer, disable all energy saving settings.

• Do not turn OFF the power supply to the PLC or disconnect the connecting cable while the CX-Programmer is online with the PLC. The computer may malfunction.

• Confirm that no adverse effects will occur in the system before attempting any of the following. Not doing so may result in an unexpected operation.

• Changing the operating mode of the PLC.

• Force-setting/force-resetting any bit in memory.

• Changing the present value of any word or any set value in memory.

• Check the user program for proper execution before actually running it on the Unit. Not checking the program may result in an unexpected operation.

• When online editing is performed, the user program and parameter area data in CJ2, CS1-H, CJ1-H, CJ1M, and CP1H CPU Units is backed up in the built-in flash memory. The BKUP indicator will light on the front of the CPU Unit when the backup operation is in progress. Do not turn OFF the power supply to the CPU Unit when the BKUP indicator is lit. The data will not be backed up if power is turned OFF. To display the status of writing to flash memory on the CX-Programmer, select Display dialog to show PLC Memory Backup Status in the PLC properties and then select Windows – PLC Memory Backup Status from the View Menu.

xiv

Instructions for Use

Do not turn OFF the power supply to the computer while installing or uninstalling the CX-Programmer. The data in a computer may be corrupted.

Description of Programmable Controllers

The abbreviation “PLC” means Programmable Controller. “PC” is used, however, in some Programming Device displays to mean Programmable Controller.

SECTION 1

Overview

1-1 SFC Overview.............................................................................................................2

1-1-1 SFC Overview...................................................................................................................2

1-1-2 CX-Programmer Features.................................................................................................3

1-2 CX-Programmer Specifications...................................................................................6

1-2-1 PLC Models Supporting SFC............................................................................................6

1-2-2 Specifications....................................................................................................................6

1-3 Window Components..................................................................................................8

1-3-1 SFC Editor ........................................................................................................................8

1-3-2 Menus..............................................................................................................................11

1-3-3 SFC Editor Pop-up Menu................................................................................................14

1-3-4 Toolbar Icons..................................................................................................................21

1-3-5 Keyboard Shortcuts.........................................................................................................22

1-3-6 Environmental Settings Unique to the SFC Programming Functions.............................23

1-4 SFC Programming Example......................................................................................27

1-4-1 Simple Example of an SFC Program..............................................................................27

1-4-2 Procedures for Using CX-Programmer...........................................................................30

1-5 Precautions When Creating SFC Programs...............................................................33

1-5-1 Holding or Resetting an Action’s Outputs......................................................................33

1-5-2 Action Program Precautions ...........................................................................................34

1-5-3 Precautions for Transition Programs...............................................................................36

1-5-4 Ladder Language Instructions That Cannot Be Used in Action Programs and Transition

Programs.........................................................................................................................37

1-5-5 Task Allocation...............................................................................................................37

1-5-6 Memory Allocation.........................................................................................................38

1-5-7 Subchart Online Editing Function Restrictions...............................................................39

SFC Overview Section 1-1

1-1 SFC Overview

1-1-1 SFC Overview

The SFC (Sequential Function Chart) language is a graphical programming language developed to facilitate the description of step progression programs, which mainly control sequential processes. SFC, with its graphical representation of step flow and with description of the conditions for step progression and the actions in each step, allows users to program the control of sequential processes.

Step1

Step2

Step3

SFC offers the following advantages. Since step flow and program control correspond, even third-party programmers can easily understand the program, as a whole. This reduces the program debugging and maintenance workload.

Processing Contents

Step Transition Condition

Processing Contents

Step Transition Condition

Processing Contents

Step Transition Condition

Process Flow

Equipment Control/

External Device Control

Correspond-

ence

Step A

Step C

SFC Program

Step B

Programs can be created separately for each step, without the need to consider complicated requirement exchanges between steps. In other words, each step can be programmed separately, by a different developer, making program development simpler and more efficient.

SFC Overview Section 1-1

Step1

Step2

Step 3

Processing Contents

Programs are independently completed for each step, and are therefore simple to

reuse.

Processing is performed on a per step basis, giving process time, only to active steps,

and not to inactive steps, allowing the CPU unit cycle time to be shortened.

1-1-2 CX-Programmer Features

The CX-Programmer Support Software is equipped with an SFC editor, and can be

used to create, monitor, and debug SFC programs for CS/CJ-series and CJ2-series

PLCs. The CX-Programmer supports SFC language in addition to conventional ladder

and structured text (ST) programming languages.

With desirable features, such as the user interface, carried over from the earlier series,

and with the added SFC programming function, the CX-Programmer provides a

programming environment that can take full advantage of the SFC language’s features.

Combining SFC, Ladder, and ST for User Programs

Each program allocated to a task can be coded as an arbitrary combination of SFC,

ladder, and ST. Hence, the language best suited to each process can be utilized (e.g.

SFC for step progression, ladder for device control, and ST for mathematical

processes).

The common functions of CX-Programmer are still available to use, regardless of the

language used.

Developed by “A”

Developed by “B”

Developed by “C”

Steps can be developed separately.

User Program

Ta sk

SFC Step Progression Control

Programming Language Best Suited to the Process is Selectable

a = a + 1

Ladder

Device Control

ST Mathematical Processes

SFC Overview Section 1-1

Ladder and ST as Part of SFC Programs

The step actions and transition conditions within an SFC program can be coded in either ladder or ST. The step actions and transition conditions coded in ladder or ST are registered in an SFC program as action programs and transition programs.

ction Programs (Ladder)

ction Programs (ST)

Transition Program (Ladder)

Transition Program (ST)

Simultaneous Display/Editing of SFC Charts and Action/Transition Programs

The SFC chart editor can display the SFC view and program view in a horizontally or vertically split window, allowing an SFC chart and action block (or transition program) to be viewed and edited at the same time. In addition, action blocks can be hidden in the SFC view, but action programs and transition programs can be viewed and edited in the program view, even when the action blocks are hidden in the SFC chart. Processing contents and transition conditions can be viewed and edited while envisioning the entire program picture, allowing the features of SFC to be fully realized.

Action Blocks Shown

SFC View

Program View

SFC Overview Section 1-1

Action Blocks Hidden

SFC View

Program View

Online Editing and Debugging

SFC charts can be edited online. Furthermore, action blocks can be hidden while

debugging, and the step progression status can be checked. The SFC chart editor will

display the action programs in the program view, even while the action blocks are

hidden.

Array Variables

Array variables can be used in ST and SFC, in addition to being able to use them in

conventional ladder programs, executed for tasks in CX-Programmer.

Ladder

b[7] := a[7]

SFC

a[5] b[5]

NStep n a[3]

b[3]

CX-Programmer Specifications Section 1-2

1-2 CX-Programmer Specifications

This section describes the CX-Programmer’s operating environment in which SFC functions can be used. For details on the basic CX-Programmer operating environment, refer to the CX-Programmer Operation Manual (Cat. No. W446).

1-2-1 PLC Models Supporting SFC

The following PLCs (Programmable Logic Controllers) support the SFC language.

PLC model CPU model

CJ2H unit version 1.0 or later CJ2H-CPU68/67/66/65/64/68-EIP/67-EIP/66-EIP/65-EIP/64-EIP

CS1G-H unit version 4.0 CS1G-CPU45H/44H/43H/42H

CS1H-H unit version 4.0 CS1H-CPU67H/66H/65H/64H/63H

CJ1G-H unit version 4.0 CJ1G-CPU45H/44H/43H/42H

CJ1H-H unit version 4.0 CJ1H-CPU67H/66H/65H/67H-R/66H-R/65H-R/64H-R

CJ1M unit version 4.0 CJ1M-CPU23/22/21/13/12/11

Note

• SFC cannot be used on CP-series PLCs.

• Microsoft .Net Framework 1.1 or later must be installed.

• Internet Explorer 5.@ or later must be installed.

1-2-2 Specifications

Item Details

Programming language for tasks

SFC program unit Tasks (1 task = 1 SFC chart)

Tasks supported for SFC program allocation

SFC elements Steps, transitions, actions, jumps, subcharts

SFC chart shapes Series, divergence/convergence, simultaneous sequence divergence/convergence, jump

Step status Active, inactive

Transitions * Boolean address bits (Boolean variables or actual addresses), ST expressions, or

Transition program transition conditions

SFC, ladder, or ST (In any combination)

CJ2: 384 tasks max. (128 cyclic tasks, 256 extra tasks) Other models: 288 tasks max. (32 cyclic tasks, 256 extra tasks)

Cyclic or extra tasks

Note: SFC elements are automatically registered to local variables.

Note: Number of divergences/convergences, simultaneous sequence

divergences/convergences, and subcharts are unlimited. (Unlike with SFC for CV series)

Note: PAUSE and HALT are not supported. (Unlike with SFC for CVM1/CV series)

transition programs

Note 1: A ladder or ST program can be used for a transition program.

Note 2: Function blocks can be used for transition programs.

A transition condition is met when the Boolean variable with the same name as the transition program is switched to “ON”.

CX-Programmer Specifications Section 1-2

Action blocks Action Qualifiers (AQ) (11 types) + action

Note 1: There is no restriction on the number of action blocks allocated to a step.

Note 2: If there are multiple action programs in the same step, the execution order is

determined by the order (top to bottom) that the action programs are listed in the project workspace.

Note 3: An action program is executed just once per cycle (unlike the CV-series SFC

operation), even if the action program is used in multiple steps and the multiple steps are active at the same time.

Action qualifiers (11 types) N, P, P1, P0, L, D, R, S, SL, SD, DS

Actions * Boolean address bits (Boolean variables or actual addresses) or action programs

Note 1: A ladder or ST program can be used for an action program.

Note 2: Function blocks can be used for action programs.

Output reset When a step has become inactive, the action block’s outputs can be reset by any one of

the following methods. Select the output reset in the action’s properties (unless the action is Boolean or an ST program). The reset operation depends upon the type of program added, as follows.

• Specified bit: Reset.

• Ladder program: The default setting is to reset outputs. If you do not want the outputs

reset, specify that in the action program’s properties.

• ST program: Not reset.

Direct addressing An actual address can be specified for an action or transition using an SFC chart’s

Boolean action/transition or a ladder program. Only variables can be used to specify addresses in ST programs. (Direct addressing is not possible.)

Step control

SFC task control

Force Step Transitions can be force-set/force-reset online, for a step-by-step execution.

Online Editing Allows SFC chart editing, actions addition/deletion, and transitions addition/deletion.

Array variables Array variables are supported for SFC, ladder, and ST programs.

Step activation/ deactivation

Step timer readings/ updates

Executing and ending SFC tasks

Stopping SFC tasks (output reset or output hold)

* The maximum number of transition programs, action programs, and subcharts is as follows

(when using function blocks, number of definitions are included):

CJ2 CPU Units: 2,048 max.

CS1H /CJ1H CPU Units: 1024 max.

CJ1M CPU Units: 256 max.

Steps in an SFC chart can be activated or deactivated from the following ladder programs (by using the “SA” step activation instruction and the “SE” step deactivation instruction). * Ladder program outside of SFC programs * Action ladder program within an SFC program * Action ladder program within another SFC program

Time elapsed since the activation of a step can be read and updated (by using the “TSR” read step timer value instruction and the “TSW” set step timer value instruction). 0 to 6553.5 sec (Unit: 100 millisecond), or 0 to 65535 sec (Unit: 1 sec)

The execution and ending of SFC tasks can be controlled from the ladder program with the SFC Task Control Instructions. Execute: If the SFC task was completed, the SFC task status is completely reset and

execution proceeds from the initial step. If the SFC task was stopped, the SFC task is executed from the step where the

task was stopped. End: The status of outputs is held, and the SFC task is ended.

SFC tasks can be stopped (outputs reset or outputs held) from the ladder program with the SFC Task Control Instructions. Output reset: Resets the outputs, and pauses the SFC task. Output hold: Retains the output status, and pauses the SFC task.

Note: Choose between standard mode (transfer with source code) and quick mode

(transfer without SFC source code).

Window Components Section 1-3

1-3 Window Components

This section describes the CX-Programmer’s SFC chart editing functions and functions related to the SFC editor. For details on other functions, refer to the CX-Programmer Operation Manual (Cat. No. W446).

1-3-1 SFC Editor

SFC elements can be inserted and connected in the CX-Programmer’s SFC editor to create sequential step programs. The project workspace and SFC editor can be displayed in a horizontally or vertically split window, so that the structural relationship between the SFC chart and action block (or transition program) can be clearly understood.

SFC Editor

Project Workspace

SFC View

Program View

Window Components Section 1-3

(

)

Project Workspace

SFC programming elements are hierarchically displayed and managed. The Project Workspace is also known as the Project Tree.

SFC Pro

Local Variable

Transition Folde

Transition Programs (Ladder or ST)

Subchart Folde

Subchart Programs

ram

ction Folde

ction Programs

Ladder or ST

SFC Programs

SFC programs are registered as child items of the Programs folder in the project workspace. Task allocation is required to execute the SFC program.

Symbol Tables

Variables are automatically registered in the symbol table, corresponding to the SFC elements created in the SFC chart. The variables registered here are used as local variables in the SFC chart. Also, the user can register the variables that are required while writing the SFC program.

Actions Folder and Action Programs

Action programs are registered in the Actions folder under the SFC program structure. An action program describes the step actions in ladder or ST. Action programs are associated to an action block within an SFC chart by selecting the relevant action name.

Window Components Section 1-3

Transitions Folder and Transition Programs

Transition programs are registered in the Transitions folder under the SFC program. A transition program describes the step progression conditions, which need to be expressed by multiple input signals or by the more complex ladder or ST logic. Transition programs are associated with an SFC chart’s transition by selecting the same transition name.

Subcharts Folder and Subchart Programs

Subchart programs are registered in the Subcharts folder under the SFC program. A subchart program allows an SFC program with large-scale step progression control to be developed in parts, improving the reusability and visibility of the program and allowing for more structured programming of the SFC program. Subchart programs are subcharts for SFC charts and are associated with an SFC chart by selecting the same subchart name. In program view, it is possible to check whether an SFC subchart is a partial SFC chart of the SFC program.

SFC Editor

Displays an SFC chart or subchart. By providing a split SFC view and program view display, the SFC chart can be viewed simultaneously with the associated action program or transition program.

Window Components Section 1-3

SFC View

Program View

SFC Editor Display Customization

Select Tools - Options from the menu, and then the Appearance or SFC tab to customize the SFC editor display. For details on customizing the SFC editor display, refer to 1-3-6 Environmental Settings Unique to the SFC Programming Functions.

SFC View

Displays an SFC chart or subchart.

Program View

Displays the action program, transition program, or subchart for the action block, transition, or subchart step, selected in the SFC view. The action program, transition program, or subchart program can be edited in program view, while viewing the SFC chart in the SFC editor.

1-3-2 Menus

Edit Menu

This menu is displayed when the SFC editor is displayed in the main editing window and has the cursor focus. Menu items are enabled and disabled depending on which SFC element is selected in the SFC editor.

Edit Step Name Enables editing of the selected step

Edit Transition Condition Enables editing of a selected transition

Edit Action Name Displays a combo box in the selected

Edit Action Qualifier Displays a combo box in the action

Edit Action Qualifier Time Enables editing of the selected action

Edit Action Indicator Variable Enables editing of the selected action

Menu Sub-Menu Function

name.

action block, enabling selection of the action program name.

qualifier of the selected action block, enabling action qualifier selection.

block’s action qualifier timer.

block’s indicator variable.

Window Components Section 1-3

Edit Connections

Tidy Element Positions Arranges all of the elements in the SFC

Tidy Descendant Element Positions Arranges the SFC chart elements

Add Connection To SFC Element

Add Connection From SFC Element

Delete Connection To SFC Element

Delete Connection From SFC Element

Draws out a connection from the topside of the selected SFC element.

Draws out a connection from the downside of the selected SFC element.

Deletes the connection on the topside of the selected SFC element.

Deletes the connection on the downside of the selected SFC element.

chart.

positioned after the selected SFC element.

View Menu

This menu is enabled only when the display magnifier for the SFC editor has been changed.

Menu Function

Zoom Reset Resets the scaling ratio of the SFC editor to 100%.

Insert Menu

This menu is enabled only when the SFC editor is displayed.

Step When a bottom transition is selected, this item adds

Subchart Step When a bottom transition is selected, this item adds

Transition When a bottom step is selected, this item adds a

Divergences When a bottom step is selected, this item adds a

Convergences When a conditionally-branched bottom transition is

Simultaneous Sequence Divergences When a bottom transition is selected, this item adds

Simultaneous Sequence Convergences When a parallel-branched bottom step is selected,

Menu Function

a step and connects it to the transition. When a transition is not selected, it inserts an independent step.

a subchart step and connects it to the transition. When a transition is not selected, it inserts an independent subchart step.

transition and connects it to the step. When a step is not selected, it inserts an independent transition.

divergence and 2 transitions, and connects them to the step. When a step is not selected, it adds a step, a divergence, and 2 transitions.

selected, this item adds a convergence and a step, and connects them to the transition.

a simultaneous sequence divergence and 2 steps, and connects them to the transition. When a transition is not selected, it adds a transition, a simultaneous sequence divergence, and 2 steps.

this item adds a simultaneous sequence convergence and a transition, and connects them to the step.

Window Components Section 1-3

Step and Transition When a bottom transition is selected, this item adds

a step and a transition, and connects them to the transition.

Transition and Step When a bottom step is selected, this item adds a

transition and a step, and connects them to the step.

Simultaneous Convergent Step Above Inserts a step on the topside of a simultaneous

sequence convergence.

Convergent Transition Above Inserts a transition on the topside of a convergence.

Connector Draws a connection from an SFC element that does

not have a connection in the SFC chart.

Program Menu

This menu is enabled only when the SFC editor is displayed.

Menu Function

Online Edit

Transfer SFC/ST Source to PLC (Online Edit)

Release FB/SFC/ST, Online Edit Access Rights

When an SFC program revision is being transferred in quick mode during online SFC chart editing, only the SFC source code is transferred later.

Makes PLC access rights invalid in the event of process interruption, due to communication error during online SFC chart editing.

Window Components Section 1-3

1-3-3 SFC Editor Pop-up Menu

This section describes menus, which are displayed by right-clicking within the SFC editor. The menu displayed depends on which SFC element is selected. Furthermore, menu items are enabled and disabled depending on the connected state of SFC elements.

Right-Clicking a Step

The step elements menu for working online differs from that for working offline.

Offline Pop-Up Menu

Menu Sub-Menu Function

Edit Step Name Enables editing of the selected step

name.

Step Type

Step Timer

Add Action

Show Action Blocks Shows hidden action blocks.

Add Transition and Step Adds a transition and a step, and

Add Transition Adds a transition and connects it to the

Insert Step and Transition Above Adds a transition and a step, and

Insert Transition Above Adds a transition to the topside of the

Add Divergences Adds a divergence and 2 transitions,

Add Simultaneous Sequence Convergence Adds a simultaneous sequence

Normal Changes the selected step to a normal

step.

Initial Changes the selected step to an initial

step.

Entry Changes the selected step to a entry

step.

Return Changes the selected step to a return

step.

Use Millisecond Timer Sets the step timer unit to 100

milliseconds.

Use Second Timer Sets the step timer unit to 1 second.

Boolean Action Adds a Boolean variable or actual

address to the selected step.

New Ladder Action Creates a new ladder program, and

adds it to the selected step.

New Structured Text Action

Existing Action Adds an already registered action to

Creates a new ST program, and adds it to the selected step.

the selected step.

connects them to the selected step.

selected step.

connects them to the topside of the selected step.

selected step.

and connects them to the selected step.

convergence and a transition, and connects them to the selected step.

Window Components Section 1-3

Connections

Open Subchart Definition Opens a subchart.

Cut Cuts the selected step to the clipboard.

Copy Copies the selected step to the

Paste Pastes the contents of the clipboard.

Delete Deletes the selected step.

Tidy Descendant SFC Elements Arranges elements of the SFC chart

Online Pop-Up Menu

Menu Sub-Menu Function

Force Step

Set Step Timer Value Updates the step timer value.

Open Subchart Definition Opens a subchart.

Show Action Blocks Shows hidden action blocks.

Tidy Descendant SFC Elements Arranges elements of the SFC chart

Add Connection Opens the Add Connection dialog.

Add Jump to Step Draws out a connection from the

topside of the selected step, and connects it to the downside of the transition that is to become the jump starting point.

Add Connection To Step Draws out a connection from the

topside of the selected step, and connects it to the downside of a transition.

Delete Connection To Step Deletes the connection on the topside

of the selected step.

Draw Connections to Step as Jump

Add Connection From Step Draws out a connection from the

Delete Connection From Step

On Activates the selected step.

Off Deactivates the selected step.

Cancel Cancels the forced status.

Changes the topside of the selected step to a jump.

downside of the selected step, and connects it to the topside of a transition.

Deletes the connection on the downside of the selected step.

clipboard.

positioned after the selected step.

Right-Clicking a Transition

The transition elements menu for working online differs from that for working offline.

Offline Pop-Up Menu

Menu Sub-Menu Function

Edit Transition Condition Enables editing of the selected

Add Step and Transition Adds a step and a transition, and

Add Step Adds a step and connects it to the

Insert Transition and Step Above Adds a transition and a step, and

transition condition.

connects them to the selected transition.

selected transition.

connects them to the topside of the selected transition.

Window Components Section 1-3

Insert Step Above Adds a step to the topside of the

selected transition

Add Convergence Adds a convergence and a step, and

connects them to the selected transition.

Add Simultaneous Sequence Divergence Adds a simultaneous sequence

divergence and 2 steps, and connects them to the selected transition.

Connections

Add Subchart Step

Open Transition Definition Opens the selected transition program.

Add Connection Opens the Add Connection dialog.

Add Jump From Transition Draws out a connection from the

downside of the selected transition, and connects it to the topside of the step that is to become the jump destination.

Add Connection From Transition

Delete Connection From Transition

Draw Connections From Transition as Jump

Add Connection To Transition

Delete Connection To Transition

New Subchart Creates and adds a new subchart, and

Existing Subchart Connects an already registered

Draws out a connection from the downside of the selected transition, and connects it to the topside of a step.

Deletes the connection on the topside of the selected transition.

Changes the topside of the selected transition to a jump.

Draws out a connection from the topside of the selected isolated transition, and connects it to the downside of a step.

Deletes the connection on the downside of the selected transition.

connects it to the selected transition as a subchart step.

subchart to the selected transition as a subchart step.

Cut Cuts the selected transition to the

clipboard.

Copy Copies the selected transition to the

clipboard.

Paste Pastes the contents of the clipboard.

Delete Deletes the selected transition.

Tidy Descendant SFC Elements Arranges SFC chart elements

positioned after the selected transition.

Online Pop-Up Menu

Menu Sub-Menu Function

Force Step

Open Transition Definition Displays the selected transition

Tidy Descendant SFC Elements Arranges SFC chart elements

On Sets the transition condition to ON.

Off Sets the transition condition to OFF.

Cancel Cancels the forced status.

program.

positioned after the selected transition.

Window Components Section 1-3

Right-Clicking a Divergence

Menu Sub-Menu Function

Add Divergent Transition Branch Adds a transition to the right side of the

selected divergence.

Insert Step Above Adds a step and connects it to the

topside of the selected divergence.

Insert Transition and Step Above Adds a transition and a step, and

connects them to the topside of the selected divergence.

Connections

Use Default Transition Precedence The order of execution can be set by

Cut Cuts the selected divergence to the

Copy Copies the selected divergence to the

Paste Pastes the contents of the clipboard. Delete Deletes the selected divergence. Tidy Descendant SFC Elements Arranges elements of the SFC chart

Add Connection Opens the Add Connection dialog. Add Connection To Divergence

Add Connection From Divergence

Delete Connection To Divergence Delete Connection From Divergence

Draws out a connection from the topside of the selected divergence, and connects it to the downside of a step. Draws out a connection from the downside of the selected divergence, and connects it to the topside of a transition. Deletes the connection on the topside of the selected divergence. Deletes the connection on the downside of the selected divergence.

deselecting (removing the check marks) items. (By default, the execution order is from left to right, and numbers are not displayed.)

clipboard.

positioned after the selected divergence.

Right-Clicking a Convergence

Menu Sub-Menu Function

Add Convergent Transition Branch Adds a transition to the right side of the

Add Step Adds a step and connects it to the

Add Subchart Step

Add Step and Transition Adds a step and a transition, and

New Subchart Creates and adds a new subchart, and

Existing Subchart Connects an already registered

selected convergence.

connects it to the selected convergence as a subchart step.

subchart to the selected convergence as a subchart step.

connects them to the selected convergence.

Window Components Section 1-3

Connections

Cut Cuts the selected simultaneous

Copy Copies the selected simultaneous

Paste Pastes the contents of the clipboard. Delete Deletes the selected convergence. Tidy Descendant SFC Elements Arranges SFC chart elements

Add Connection Opens the Add Connection dialog. Add Connection To Convergence

Add Connection From Convergence

Delete Connection To Convergence Delete Connection From Convergence

Draws out a connection from the topside of the selected convergence, and connects it to the downside of a transition. Draws out a connection from the downside of the selected convergence, and connects it to the topside of a step. Deletes all connections on the topside of the selected convergence. Deletes the connection on the downside of the selected convergence.

sequence divergence to the clipboard.

positioned after the selected Convergence.

Right-Clicking a Simultaneous Sequence Divergence

Menu Sub-Menu Function

Add Simultaneous Divergent Step Branch Adds a step to the right side of the

selected simultaneous sequence divergence.

Insert Transition Above Adds a transition to the topside of the

selected simultaneous sequence divergence.

Insert Step and Transition Above Adds a step and a transition, and

connects them to the topside of the selected simultaneous sequence divergence.

Connections

Cut Cuts the selected simultaneous

Copy Copies the selected simultaneous

Paste Pastes the contents of the clipboard. Delete Deletes the selected simultaneous

Tidy Descendant SFC Elements Arranges SFC chart elements

Add Connection Opens the Add Connection dialog. Add Connection To Divergence

Add Connection From Divergence

Delete Connection To Divergence

Delete Connection From Divergence

Draws out a connection from the topside of the selected simultaneous sequence divergence, and connects it to the downside of a transition. Draws out a connection from the downside of the selected simultaneous sequence divergence, and connects it to the downside of a step. Deletes the connection on the topside of the selected simultaneous sequence divergence. Deletes the connection on the downside of the selected simultaneous sequence divergence.

sequence divergence to the clipboard.

sequence divergence.

positioned after the selected simultaneous sequence divergence.

Window Components Section 1-3

Right-Clicking a Simultaneous Sequence Convergence

Menu Sub-Menu Function

Add Simultaneous Sequence Convergent Step Branch Adds a step and connects it to the

topside of the selected simultaneous sequence convergence.

Add Transition Adds a transition and connects it to the

selected simultaneous sequence convergence.

Add Transition and Step Adds a transition and a step, and

connects them to the selected simultaneous sequence convergence.

Connections

Cut Cuts the selected simultaneous

Copy Copies the selected simultaneous

Paste Pastes the contents of the clipboard.

Delete Deletes the selected simultaneous

Tidy Descendant SFC Elements Arranges SFC chart elements

Add Connection Opens the Add Connection dialog.

Add Connection To Convergence

Add Connection From Convergence

Delete Connection To Convergence

Delete Connection From Convergence

Draws out a connection from the topside of the selected simultaneous sequence convergence, and connects it to the downside of a step.

Draws out a connection from the downside of the selected simultaneous sequence convergence, and connects it to the topside of a transition.

Deletes all connections on the topside of the selected simultaneous sequence convergence.

Deletes the connection on the downside of the selected simultaneous sequence convergence.

sequence convergence to the clipboard.

sequence convergence.

positioned after the selected simultaneous sequence convergence.

Right-Clicking an Action Block

Menu Sub-Menu Function

Edit Action Name Displays a combo box in the selected

Edit Action Qualifier Displays a combo box in the action

Edit Action Qualifier Time Enables editing of the selected action

Open Action Program Definition Opens the selected action program.

Add Action

Boolean Action Adds a Boolean variable or actual

New Ladder Action Creates a new ladder program, and

New Structured Text Action

action block, enabling selection of the action program name.

qualifier of the selected action block, enabling action qualifier selection.

block’s action qualifier timer.

address to the selected action block.

adds it to the selected action block.

Creates a new ST program, and adds it to the selected action block.

Window Components Section 1-3

Existing Action Adds an already registered action to

the selected action block.

Display Indicator Variable on Chart Indicator valuables may be

shown/hidden.

Edit Action Indicator Variable Enables editing of the selected action

block’s indicator variable.

Cut Cuts the selected action block to the

clipboard.

Copy Copies the selected action block to the

clipboard.

Paste Pastes the contents of the clipboard.

Delete Deletes the selected action block.

Right-Clicking the SFC Editor Background

Menu Sub-Menu Function

Add Step Inserts an independent step.

Add Subchart Step

Add Transition Inserts an independent transition.

Add Divergence Inserts an independent divergence.

Add Convergence Inserts an independent convergence.

Add Simultaneous Sequence Divergence Inserts an independent simultaneous

Add Simultaneous Sequence Convergence Inserts an independent simultaneous

Add Step and Transition Adding a Step and a Transition.

Add Transition and Step Adding a transition and a step.

Add Connector Inserts a connection for the selected

Show All Action Blocks Displays all action blocks.

Hide All Action Blocks Hides all action blocks.

Cut -

Copy -

Paste Pastes the contents of the clipboard.

Delete -

Select All Selects all SFC elements in the SFC

Tidy All SFC Elements Arranges all elements in the SFC chart.

Import/Export

New Subchart Creates a new subchart and inserts it

as an independent subchart step.

Existing Subchart Inserts an already registered subchart

as an independent subchart step.

sequence divergence.

sequence convergence.

SFC element.

chart.

Import from XML File Loads a program saved in XML format.

Import from Structured Text File

Export as XML File Creates program file in XML format.

Export as Structured Text File

Loads a program saved in ST format.

Creates program file in ST format.

Window Components Section 1-3

1-3-4 Toolbar Icons

This section lists toolbar items were not supported in CX-Programmer version 7.2, but were added for SFC Programming Functions.

Ladder Diagram Toolbar

Icon Pop-up Menu Function

Zoom Reset Resets the scaling ratio of the SFC editor to 100%.

Insert Toolbar

Icon Pop-up Menu Function

Insert SFC Program Creates a new SFC program.

Insert ST Program Creates a new ST program.

SFC Toolbar

Icon Pop-up Menu Function

Add Step Adds an SFC step.

Add Subchart Step Adds an SFC subchart step.

Add Entry Step Adds an SFC subchart entry step.

Add Return Step Adds an SFC subchart return step.

Add Transition Adds an SFC transition.

Add Divergences Adds an SFC divergence.

Add Convergence Adds an SFC convergence.

Add Simultaneous Divergence Adds an SFC simultaneous sequence divergence.

Add Simultaneous Convergence

Add Connector Adds an SFC connection.

Adds an SFC simultaneous sequence convergence.

Window Components Section 1-3

1-3-5 Keyboard Shortcuts

Shortcuts

The following shortcuts can be used in SFC chart editor.

Menu Shortcut Function

SFC Editing: Step

SFC Editing: Transition

SFC Editing: Step and Transition

SFC Editing: Transition and Step

SFC Editing: Subchart

SFC Editing: Connections

SFC Editing: Join

SFC Editing: Branch

SFC Editing: Unconnected Step

SFC Editing: Unconnected Transition

SFC Editing: Editing of Selected Parts

SFC Editing: Action Qualifier (AQ)

SFC Editing: Actions

SFC Editing: Initial Step

SFC Editing: Align

SFC Editing: Tidy All SFC Elements

S When a bottom transition is selected, this shortcut adds a step and

connects it to the transition. When no SFC element is selected within the SFC chart, inserts an independent step.

T When a bottom step is selected, this shortcut adds a transition and

connects it to the step. When no SFC element is selected within the SFC chart, inserts an independent transition.

Shift+S When a bottom transition is selected, this shortcut adds a step and a

transition, and connects them to the transition.

Shift+T When a bottom step is selected, this shortcut adds a transition and a

step, and connects them to the step.

U When a bottom transition is selected, this shortcut adds a subchart

step and connects it to the transition. When no SFC element is selected within the SFC chart, inserts an independent subchart step.

L When an SFC element is selected, this shortcut displays the Add

Connection dialog.

C Adds a join to a bottom SFC element.

When a transition is selected, this shortcut adds a convergence. When a step is selected, it adds a simultaneous sequence convergence.

D Adds a branch to a bottom SFC element.

When a transition is selected, this shortcut adds a simultaneous sequence divergence. When a step is selected, it adds a divergence.

Shift+P Inserts an independent step.

Shift+R Inserts an independent transition.

E Enables editing for the selected SFC element (i.e. of the name).

When an action block is selected, this shortcut displays the action program selection combo box.

Q When an action block is selected, this shortcut displays the action

qualifier selection combo box.

A When a step is selected, this shortcut adds an action block to the step.

I When a step is selected, this shortcut changes the step to an initial

step.

J Arranges SFC chart elements positioned after the selected SFC

element.

Shift+J Arranges all elements in the SFC chart.

Window Components Section 1-3

1-3-6 Environmental Settings Unique to the SFC Programming

Functions

This section lists environmental setting functions were not supported in CX-Programmer, but were added for SFC Programming Functions. Environmental settings include the operating settings of the SFC programming functions, operation settings, and display settings.

1 Select Tools - Options from the menu.

The Options dialog will be displayed. 2 Select a tab and configure the settings. 3 Click Apply - OK.

Diagrams Tab Page

Editor View to Show When Split: ST (Default: Structured Text)

Sets the content to be displayed when the ST program edit window is in a split window. Select from Structured Text and Symbols. The setting is enabled when the project is saved and reopened.

Structured Text

Allows different sections of the same ST program to be viewed in a split window.

Symbols

Displays the ST program edit window and the local symbol table at the same time.

Editor View to Show When Split: SFC (Default: Actions/Transitions)

Sets the content to be displayed in a split window in an SFC editor. Select from Actions/Transitions, SFC, and Symbols. The setting is enabled when the project is saved and reopened.

Actions/Transitions

Displays an SFC chart in the SFC editor’s SFC view, and an action program or a transition program (ladder or ST) in the SFC editor’s program view.

SFC

Displays a single SFC chart in the SFC editor’s SFC view and program view. The different parts of the single SFC chart can be seen.

Symbols

Displays the local symbol table and SFC chart in the SFC editor.

Window Components Section 1-3

PLCs Tab Page

Default Program Type in New PLC (Default: SFC)

Sets the default program type for new projects. Select from Ladder, ST, and SFC.

Appearance Tab Page

Sets the background color for the SFC editor, the display color for the SFC elements, and the font settings for text.

Setting the Display Color

1 Using the Item combo box, select the item to be set. 2 Click Custom and display the Color dialog. 3 Select a color and click OK.

Check the Default checkbox to use the default color.

4 Click Apply - OK.

The following items can be set:

• SFC background

• SFC grid line

Window Components Section 1-3

• SFC element (Color of steps, transitions, divergences, convergences, simultaneous sequence divergences, simultaneous sequence convergences, and connections)

• SFC monitoring (active step and action block color)

• SFC action (action block color)

• SFC subchart step (subchart step color)

• SFC transition expression (Text color for transition conditions)

• SFC transition name (Text color for transition names)

Setting the Display Text

1 Click SFC Font and display the Font dialog. 2 Select the properties for the display text. 3 Click Apply - OK.

The following items can be set:

• Font name

• Style

• Size

• Character set

SFC Tab Page

Sets the display settings for the SFC editor.

SFC Editor Settings

The following display settings are available for the SFC editor.

Show Grid (Default: Not Checked)

Check the checkbox to display the grid; remove the check to hide the grid.

Show Transition Names (Default: Checked)

Check the checkbox to display the transition names; remove the check to hide the transition names.

SFC Horizontal Split (Default: Checked)

Check the checkbox to split the SFC editor window horizontally; remove the check to split the window vertically. The setting is enabled when the project is saved and

Window Components Section 1-3

reopened.

Automatically Show Active Step in Monitoring Mode (Default: Checked)

Check the checkbox to have SFC diagram editor program view automatically updated to track the active step, while debugging or editing online.

Automatically Select Active Step in Monitoring Mode (Default: Checked)

Displays the active step’s action program. This function is effective when the action is hidden.

Snap to Grid (Default: Not checked)

Check the checkbox to align SFC elements to the grid when drag-and-dropped.

Grid Width

Use the slider to adjust the grid size.

Default Settings for SFC Elements

Changes to the options are for newly added elements inserted into the SFC Editor only. Existing elements keep the previous settings. SFC elements are labeled using the specified text string and an automatically assigned number.

• Step Prefix (Display name)

• Transition Prefix (Display name)

• Action Body Prefix (Display name)

• Transition Body Prefix (Display name)

• Subchart Prefix (Display name)

• Element Width (Display width)

Note: This option setting is effective only on elements that are newly added to the SFC chart.

The setting has no effect on elements that were already added.inserted into the SFC Editor only. Note: Reserved words for addresses cannot be used as display names. (Example: S, ST, T, TN, A, AC, etc.)

Use Extended SFC Settings

When this option is selected, the following advanced settings can be used.

Enabling/Disabling the SFC Program’s Final Scan:

The Apply Final Scan Logic Option can be selected in the General Tab of the SFC program’s Property Dialog Box. Option selected: Final scan execution is enabled for that entire SFC program. Option not selected: Final scan execution is disabled for that entire SFC program.

Note: For details on the final scan function, refer to 1-5-2 Action Program Precautions.

SFC Programming Example Section 1-4

1-4 SFC Programming Example

The section provides a simple example of an SFC program, and describes the procedures for program development using CX-Programmer.

1-4-1 Simple Example of an SFC Program

SFC will be used to program a ticketing system for an unattended paid parking lot. Study the action flow scenario and clarify the steps and transition conditions. Check for external devices, also, and define the variables.

Ticket Sensor

Ticket Dispenser

Gate Open Limit Sensor

Gate Close Limit Sensor

Action Flow Scenario for an Unattended Paid Parking Lot

A scenario is created by breaking down the action flow, as well as the statuses of the external device.

1 Waiting for an incoming car. -> Step 1: Initial step 2 When a car enters, the vehicle sensor is turned ON, and the active status is

transferred to the next step.

-> Transition condition: Trans1/Vehicle sensor ON (carln)

3 When the vehicle sensor is turned ON, the ticket dispenser is turned ON, and a

ticket is issued.

-> Step 2: TicketOut

-> AQ: N (Normal)

-> Action: Active ticket dispenser 4 When the ticket dispenser issues a ticket, the ticket sensor is turned OFF. 5 When the driver takes the ticket, the ticket sensor is turned OFF, and the active

status is transferred to the next step. At this point, the ticket dispenser is also turned OFF.

-> Transition condition: Trans2/Ticket sensor ON (ticket) 6 When the driver takes the ticket, normal rotation of the gate motor is turned ON,

and the gate begins to open.

-> Step 3: OpenGate

-> AQ: N (Normal)

-> Action: Active normal rotation of gate motor 7 When the gate is fully opened, the gate open limit sensor is turned ON, and the

active status is transferred to the next step. At this point, the normal rotation of the gate motor is turned OFF.

Vehicle Senso

SFC Programming Example Section 1-4

-> Transition condition: Trans3/Gate open limit sensor ON (gateopenLimit)

8 If 3 seconds have elapsed since the gate has fully opened, AND if the car has

passed the gate and the vehicle sensor has turned OFF, the transition conditions are met. The reverse rotation of the gate motor is then turned ON, and the gate begins to close.

-> Step 4: CloseGate

-> AQ: D (Delay)

-> Action: Active reverse rotation of gate motor

9 When the gate is fully closed, the reverse rotation of the gate motor is turned OFF.

-> Step 4: CloseGate

-> Action: Activate reverse rotation of gate motor

10 When the gate is fully closed, the gate close limit sensor is turned ON, and the

active status is transferred to the next step. At this point, the reverse rotation of the gate motor is turned OFF.

-> Transition condition: Trans4/Gate close limit sensor ON (gatecloseLimit)

11 The gate returns to the waiting status, and waits for the next car.

Defining Variables for the Unattended Paid Parking Lot

SFC program user variables must be defined for the external I/O devices.

External device I/O Variable name Variable type

Vehicle sensor Input carIn Boolean

Ticket sensor Input ticket Boolean

Gate open limit sensor Input gateopenLimit Boolean

Gate close limit sensor Input gatecloseLimit Boolean

Ticket dispenser Output ticketOut Boolean

Normal operation of gate motor Output gateopen Boolean

Reverse operation of gate motor

Note: It is also possible to specify actual addresses, rather than variables.

Output gateClose Boolean

SFC Programming Example Section 1-4

Example SFC Program for the Unattended Paid Parking Lot

The following example shows part of an SFC program for the ticket-issuing system of an unattended paid parking lot, based on the defined action flow scenario and variables. The action program is created using ladder logic.

Action Program (A_tiketOut): Starting/Stopping the Ticket Dispenser

P_On ticketout

Action Program (A_gateOpen): Starting/Stopping the Normal Rotation of the

Gate Motor

P_On gateOpen

Action Program (A_gateClose): Starting/Stopping the Reverse Rotation of the

Gate Motor

gateClosecarIn

Note: Leave each action program’s Reset Output at Final Scan setting at its default setting of ON

(reset).

SFC Programming Example Section 1-4

1-4-2 Procedures for Using CX-Programmer

This section describes the programming flow and SFC chart editing procedure using, as an example, the SFC program for the unattended paid parking lot ticketing system.

SFC Programming Flow

1 Select and right-click a Programs item in the project workspace, and select Insert

Program - SFC from the pop-up menu.

For details, refer to 3-1-2 Creating (Inserting) a New SFC Program.

2 Assigning the SFC program to a task

Select and right-click an SFC program item in the project workspace, and select Properties from the pop-up menu. On the General tab of the displayed Program Properties dialog, select a task from the Task Type list. For details, refer to 3-1-3 Assigning an SFC Program to a Task.

3 Editing SFC chart

When an SFC program is created, 3 types of SFC elements (initial step, transition, and step) are registered in the SFC chart editor by default. Define the transition conditions and actions by adding to these SFC elements.

4 Checking the program

Select and right-click an SFC program item in the project workspace, and select Compile from the pop-up menu. For details, refer to 3-4-1 SFC Program Check.

5 Transferring the SFC Program to the PLC

Select Transfer - To PLC from the PLC menu. For details, refer to 4-2 Transferring Programs from Computer to PLC.

SFC Programming Example Section 1-4

Editing the SFC Chart for the Unattended Paid Parking Lot

1 Register the required user variables (carIn, ticket, ticketOut, gateopenLimit,

gatecloseLimit, gateOpen, and gateClose) in the local symbol table.

For details, refer to 1-4-1 Simple Example of an SFC Program. In the project workspace, select the Symbols item for the SFC program item. Right-click the symbol table, and select Insert Symbol. Enter the variable name in the Name field of the New Symbol dialog, and click OK.

2 Create ladder action programs (A_ticketOut, A_gateOpen, A_gateClose) as

Actions folder in the project workspace. Select and right-click the Actions folder for the SFC program items in the project workspace, and select Insert Action - Ladder. Right-click the inserted action program, select Properties, and enter the action program name. Right-click the inserted action program, select Open, and create the ladder action program.

Note: Leave the action program’s Reset Output at Final Scan setting at its

default setting of ON (reset). Make the same setting for all of the following action programs, too.

3 Input the name for Step 1.

Right-click Step 1, and select Edit Step Name. Input Initial into Step 1.

4 Input the transition condition for Step 1.

Right-click the transition after Step 1, and select Edit Transition Condition. Input carln as the transition condition.

5 Input the name for Step 2.

Right-click Step 2, and select Edit Step Name. Input TicketOut into Step 2.

6 Add an action program to the action in Step 2.

Right-click Step 2, and select Add Action - Existing Action. Double-click the right-hand side of the action block, and select A_ticketOut from the combo box.

7 Input the transition condition for Step 2.

Right-click the transition after Step 2, and select Edit Transition Condition. Input ticket as the transition condition.

8 Input the name for Step 3.

Right-click Step 3, and select Edit Step Name. Input OpenGate into Step 3.

9 Add an action program to the action in Step 3.

Right-click Step 3, and select Add Action - Existing Action. Double-click the right-hand side of the action block, and select A_gateOpen from

SFC Programming Example Section 1-4

the combo box. Double-click the left-hand side of the action block, and select D from the combo box. Double-click the timer value and input 3.

10 Input the transition condition for Step 3.

Right-click the transition after Step 3, and select Edit Transition Condition. Input gateopenLimit as the transition condition.

11 Input the name for Step 4.

Right-click Step 4, and select Edit Step Name. Input CloseGate into Step 4.

12 Add an action program to the action in Step 4.

Right-click Step 4, and select Add Action - Existing Action. Double-click the right-hand side of the action block, and select A_gateClose from the combo box.

13 Input the transition condition for Step 4.

Right-click the transition after Step 4, and select Edit Transition Condition. Input gatecloseLimit as the transition condition.

14 Add a jump to Step 1.

Right-click the transition after Step 4, and select Connections - Add Connection. On the Add Connection dialog, select Initial as the jump destination. Check the Draw Connection as Jump checkbox and click OK.

Precautions When Creating SFC Programs Section 1-5

1-5 Precautions When Creating SFC Programs

1-5-1 Holding or Resetting an Action’s Outputs

The action’s type determines whether the action’s outputs (see note) are held or reset when the step goes from active to inactive status. Note: In this section, the term “output” refers to the following.

• For a bit specification, it refers to the specified bit address value in memory.

• For a ladder program, it refers to the value written in memory by an instruction.

• For an ST program, it refers to the value written in memory by a statement.

Bit Specification

• The output is reset when a holding action qualifier (S) is not specified, but a qualifier

such as action qualifier (N) is specified.

• When a holding action qualifier (S) is specified, the output is held by the action

qualifier’s execution condition even if the step becomes inactive. In this case, the output can be reset by using a resetting action qualifier (R) and adding a step, as shown in the following chart.

S Ste p 1 Output

R Step 2 Output

Output: Boolean variable

Ladder Program

With the default setting, the outputs are reset. If you want to retain the output status, deselect the ladder program’s Reset Output at Final Scan Option (remove the check mark).

Note 1. When timer instructions are being used and outputs are set to be held (not reset), the

Timer Completion Flags will also be held, and the next time that the same action is executed, it will start execution with the Timer Completion Flag ON. If you want to reset the timer Completion Flags separately, include the action flag (see note 2) in the timer instruction’s input condition by ANDing the flag as a NO condition to reset the timer.

2. The action flag is ON when the step is active, and OFF when the step is inactive.

The flag is written as Action_Name.Q. For details on action flags, refer to the explanation of Flags Used to Monitor a Step’s Active Status in 2-3 Elements of SFC.

ST Program

With the default setting, the outputs are held. If you want to reset the outputs, reset the outputs by including an “Action flag = FALSE” condition (see note) in a statement such as an IF statement.

Note: The action flag is ON when the step is active, and OFF when the step is inactive. The flag

is written as Action_Name.Q. For details on action flags, refer to the explanation of Flags Used to Monitor a Step’s Active Status in 2-3 Elements of SFC.

Precautions When Creating SFC Programs Section 1-5

Example:

N Step 1 Action1

Action1

When step 1 has become inactive, action flag Action1.Q goes OFF, the action flag (Action1.Q) becomes FALSE, and the output goes OFF.

1-5-2 Action Program Precautions

Action Program Execution Sequence

The order of execution for the actions in multiple steps that become active simultaneously within the same SFC execution cycle is as follows:

1. Bits and Boolean variables

2. Action programs If multiple action programs become active, they are each executed once each cycle from top down according to their position in the action program tree in the workspace.

Example 1

The execution order for multiple action programs registered in a single step is not according to the order of the action programs next to the step, but rather in the order the action programs are arranged in the workspace.

Note: If more than one bit or Boolean variable is registered in an action, they are executed in

the order that they are registered in the action block.

ction execution order

First bits CIO 10.01 (1) and CIO 10.02 (2) are executed (i.e., turned ON), and then the action

ction program

execution order

programs are executed in the following order:

ction 2 (3), Action 1 (4), and Action 3 (5).

(5)

(1)

(3)

(2) (4)

ction program

Bit or Boolean variable

ction program

Bit or Boolean variable

ction program

Type of action

Example 2

The execution order for actions in steps that simultaneously become active (e.g., steps 3 and 4) is not by step, but rather bits and Boolean variables are executed first and then action programs.

Note: If more than one bit or Boolean variable is registered in an action, they are executed in

the order that they are registered in the action block.

Precautions When Creating SFC Programs Section 1-5

(3)

(Action program tree in workspace)

Note

Refer to 2-2 Basic SFC Execution Cycle for information on the basic SFC execution cycle, including the order of execution for action programs. Refer to for information on the execution of action blocks.

Final Scan

Final scan function is an action program execution method defined in the IEC 61131-3 standard. The CX-Programmer conforms to this IEC standard, and is equipped with the final scan function. The final scan function executes the action program just one more time after the previously executed step becomes inactive, when programming switches to the next step. This final scan function can be used to reset the outputs of the actions that were executed.

Disabling the Final Scan Operation

The final scan function can be enabled and disabled with the following method. Select

Tools - Options from the menu, click the SFC Tab, select the Use Extended SFC Settings

SFC program’s properties.

Option selected: Final scan execution is enabled for that entire SFC program. Option not selected: Final scan execution is disabled for that entire SFC program.

FALSETrans2

Step3 Step4

ction execution order

First bits CIO 10.01 (1) and CIO 10.02 (2) are executed (i.e., turned ON), and then the action programs are executed in the following order: Action 2 (3), Action 1 (4), and Action 3 (5).

N 10.01

N Action2

N Action3

--(1)

--(5)

N 10.02

N Action1

--(2)

--(4)

2-3-3 Action Blocks

Option, and select the Apply Final Scan Logic Option in the General Tab of the

Programming Precautions When Passing Execution Results through a

Transition

When the final scan is enabled, the step action will be executed once in the next cycle after the step changes from active to inactive status. Always use the following method to write the action programs in the step before the transition to prevent the final scan from affecting the results when calculation results, such as counter values, from an action in the step before the transition are being evaluated in the step after the transition.

Ladder Programming

Observe the following precautions if the Reset Output at Final Scan Option is deselected (check mark removed) in the ladder program’s properties. When a program section has a calculation that you do not want executed when the step become inactive, always add the action flag as a NO condition for the calculation by ANDing the flag in the execution condition for the calculation. For details on action flags, refer to the explanation of

Active Status

in 2-3 Elements of SFC.

Flags Used to Monitor a Step’s

Precautions When Creating SFC Programs Section 1-5

Example 1

0.00

++(590)

0.00

Action.Q

Add action flag.

++(590)

With processing such as the increment processing shown above, add the action flag by ANDing the flag as a NO execution condition. Even if the final scan is executed, the value of D0 will not be incremented in the final scan.

Example 2

0.00

TIM

0010

___ #10

Action.Q

JMP0(515)

Add action flag.

0.00

TIM

0010

___ #10

When you do not want a timer/counter PV refreshed after the step becomes inactive in timer/counter instruction processing like the processing in the chart shown above, add the action flag by ANDing the flag as a NO execution condition to a JUMP (JMP0) instruction, and enclose the timer/counter instruction between JMP0 and JME0. Even if the final scan is executed, the PV will not be refreshed additionally.

ST Program

Include an “Action flag = FALSE” condition with an AND condition in a statement such as an IF statement, and execute the processing.

1-5-3 Precautions for Transition Programs

A bit output or timer/counter instruction used in a transition program will not be reset when moving to the next step, i.e., operation of the bit output or timer/counter instruction will continue.

JME0(516)

Precautions When Creating SFC Programs Section 1-5

1-5-4 Ladder Language Instructions That Cannot Be Used in

Action Programs and Transition Programs

The following instructions cannot be used for action programs and transition programs.

Unsupported instructions

Block programming instructions (All instructions, including BPRG and BEND)

Subroutine instructions (SBS, GSBS, RET, MCRO, SBN, GSBN, and GRET)

Jump instructions (JMP, CJP, CJPN, and JME)

Step ladder instructions (STEP and SNXT)

I/O refresh instruction (IORF)

TMHH and TMHHX instructions

Special instructions (FRMCV and TOCV)

Record position manipulation instructions (PUSH, FIFO, LIFO, SETR, and GETR)

Failure point detection Instruction (FPD)

Index register setting instruction (MOVRW)

1-5-5 Task Allocation

SFC programs are assigned to cyclic tasks to use them. (See note.) Refer to 3-1-3

Allocating an SFC Program to a Task

Note: Do not use SFC programs in interrupt tasks. They will not execute normally.

Allocating Extra Tasks

The CS/CJ-series PLCs provide 32 cyclic tasks (128 cyclic tasks only for CJ2-series PLCs). In addition to this, up to 256 extra tasks can be used. (Extra tasks are interrupt tasks that are executed each cycle as cyclic tasks.) (See note 1.) The CX-Programmer can be used to create SFC programs, ladder diagrams, or ST programs in either cyclic tasks or extra tasks. Extra tasks containing SFC programs are started and stopped using the SFCON and SFCOFF instructions from other tasks. (See note 2.) The following numbers are used in the SFCON and SFCOFF instructions to specify the task numbers. Refer to

Specifications

for specifying methods.

Task Number

Extra task 0 (interrupt task 0) 8000

Extra task 1 (power OFF task) 8001

Extra task 2 (scheduled interrupt task 1) 8002

Extra task 3 (scheduled interrupt task 2) 8003

Extra tasks 4 to 99 (interrupt tasks 4 to 99) 8004 to 8099

Extra tasks 100 to 131 (I/O interrupt tasks) 8100 to 8131

Extra tasks 132 to 255 (interrupt tasks 132 to 255) 8132 to 8255

Note 1. When using extra tasks, be sure to refer to the CJ2H Programmable Controllers Software

User’s Manual (Cat. No. W473) and the CS/CJ/NSJ Programming Manual (Cat. No.

W394) and confirm application methods. If the conditions to execute extra tasks as interrupt tasks are met, the task will not execute normally.

2.Do not use the TKON and TKOFF instructions to stop and start tasks with SFC programs. The instructions will not function normally.

for information on allocating tasks.

Appendix B SFC Task Control Instruction

Precautions When Creating SFC Programs Section 1-5

1-5-6 Memory Allocation

In CX-Programmer, the system allocates memory automatically to steps, transitions, and actions. With the factory default setting, the “FB Non Retain” memory area (H512 and later) of the function block will be allocated. This memory area may be insufficient, however, for larger SFC programs. In this case, use the “SFC bit” and “SFC word” memory areas for SFC. When using the “SFC bit” and “SFC word” memory areas for SFC, uncheck the Share

SFC with FB Memory

checkbox.

Default Value Memory Area

First Address End Address Size

FB Non Retain H512 H1407 896 CIO, WR, HR, DM,

FB Retain H1408 H1535 128 HR, DM, EM

FB Timer T3072 T4095 1024 TIM

FB Counter C3072 C4095 1024 CNT

SFC Bit N/A N/A N/A -

SFC Word N/A N/A N/A -

Note: DM or EM can be used for the "FB Non Retain" memory area. Uncheck the Share SFC

with FB Memory checkbox, since neither DM nor EM can be used as memory areas for SFC.

Setting Procedure

1 Select Memory Allocation – Function Block/SFC Memory – Function

Block/SFC Memory Allocation

from the PLC menu.

The Function Block/SFC Memory Allocation Dialog Box will be displayed.

2 Uncheck the Share SFC with FB Memory checkbox.

Allocable

Area

3 Select SFC Bit or SFC Word. 4 Click the Edit Button in the Function Block/SFC Memory Allocation Dialog Box.

The Edit Function Block/SFC Memory Range Dialog Box will be displayed.

5 Select Memory Area and input First Address and Size. 6 Click the OK Button in the Edit Function Block/SFC Memory Range Dialog Box. 7 Click the OK Button in the Function Block/SFC Memory Allocation Dialog Box.

Note: Set the memory areas for both "SFC bit” and “SFC word”.

Precautions When Creating SFC Programs Section 1-5

1-5-7 Subchart Online Editing Function Restrictions

Subcharts cannot be edited during online editing.

Precautions When Creating SFC Programs Section 1-5

SECTION 2

SFC Fundamentals

2-1 SFC Basic Operation.................................................................................................42

2-2 Basic SFC Execution Cycle.......................................................................................43

2-3 Elements of SFC........................................................................................................44

2-3-1 Steps................................................................................................................................44

2-3-2 Transitions.......................................................................................................................50

2-3-3 Action Blocks..................................................................................................................52

2-3-4 Divergences.....................................................................................................................59

2-3-5 Convergences..................................................................................................................5 9

2-3-6 Simultaneous Sequence Divergences..............................................................................60

2-3-7 Simultaneous Sequence Convergences...........................................................................60

2-3-8 Connections.....................................................................................................................61

2-3-9 Automatic Registration of SFC Elements as Local Variables.........................................62

SFC Basic Operation Section 2-1

2-1 SFC Basic Operation

This section describes the behavior of an SFC program using a basic step progression control.

Step Progression Control

Step progression control is a method of program control in which the execution of each step, consisting of an entire process, is sequential or time-dependant. SFC is a graphical programming language developed to allow step progression control to be easily implemented. Step Ladder has been widely used as a language for describing step progression control, but SFC has visual properties superior to traditional Step Ladder. Consider the following example: “Execute Process 1 until Condition A is met, then stop Process 1 and execute Process 2”. The following shows the behavior of an SFC program using basic step progression control (Process 1 is executed and, if condition A is met, process 2 is executed) as an example.

Step 1

Step 2

Trans1

Action 1

Action 2

ssign Process 1 to Action 1. ssign Process 2 to Action 2. ssign Condition A, the transition condition between steps, to

Trans 1.

A step is either active or inactive. An active step executes the actions defined in that step. If the condition for the step to transfer to the next step is met, then the immediately preceding step becomes inactive and the immediately succeeding step becomes active. The following illustrates that the transition condition, "Trans1" is met and that the active status has transferred from step 1 to step 2. The step showing "z" is the active step.

Step 1

Step 2

Trans1

Action 1

Action 2

Conditions Met for

Trans 1

Step 1

Trans1

Step 2

Action 1

Action 2

All the actions within an active step are executed for at least one cycle, even if the condition for the step to transfer to the next step has been met (Note, however, that the execution of some actions may be prevented by AQs).

Basic SFC Execution Cycle Section 2-2

2-2 Basic SFC Execution Cycle

The following processing is performed in the SFC execution cycle as 1 unit for all active steps. No processing is performed for inactive steps.

Action execution judgment

Action execution

Transition evaluation

Cycle

Step transition processing

Subchart processing

z Action execution

judgment

z Action execution

z Transition

evaluation

z Step transition

processing

z Subchart

processing

I/O refreshing

The results of the previous cycle’s step transition processing is received, and the AQ (action qualifier) is read to determine whether or not the all of actions will be executed. When a Boolean bit is specified in the action, the action is executed based on the result of the action execution judgment. When multiple Boolean bits are specified in a single step, they are executed in the order (from top to bottom) that they appear in the action block. If active status has changed since the previous cycle, final scan processing (see note) is performed for any action programs in steps that have changed to inactive status. Note: Refer to 1-5-2 Action Program Precautions for information on the final scan

operation. When a step is active, the action programs written in the step are executed in the following order, including actions in subcharts, based on the result of the action execution judgment.

• First, all actions for which Boolean variables are specified are executed according to

the action execution judgment. Then action programs are executed. For information on the execution order of action programs, refer to 1-5-2 Action Program Precautions.

• When the same action program is specified in two or more steps that are active at the

same time, that action program will be executed just once in a cycle. The transition conditions of active steps are evaluated. The transition program connected after the active step is executed at this time.

The current step is switched to inactive status and the next step is switched to active status if the transition evaluation determined to move to the next step. Note 1: The status is switched even if the next step is active (see note 2). If you do not

want the status to switch, add a transition condition that checks whether or not the next step is active.

Note 2: SFC operation is different in the CV-series PLCs. In the CV-series PLCs, the

status is not switched if the next step is active. The subchart is executed if the subchart step is active. Subcharts are processed in the following order:

1. Subchart initialization

2. Transition evaluations inside the subchart

3. Step transition processing inside the subchart

4. Processing to return from the subchart Note: Actions inside a subchart are executed at the same timing as previously

described in Action Execution. If more than one subchart is active at the same time, the subcharts are executed from top down in the order the subcharts are arranged in the workspace.

Elements of SFC Section 2-3

2-3 Elements of SFC

This section explains the element of SFC.

JUMP ENTRY: Jump Destination

Initial step: The first step to be made active.

2-3-1 Steps

A step is an element of an SFC program and represents a single process within an entire process.

Operation of Steps

A step is either active or inactive. An active step executes the actions defined in that step, while an inactive step does not execute any actions until it becomes active. The step status transfers when the transition condition is met, but the transfer actually depends the status of the step before the transition as well as the transition condition. The status of steps transfers when all of the following conditions are met.

z Step Transfer Condition

1 All transition conditions have been met.

2 All steps before the transition point are in the active status.

Note: The step transfers even if the connecting step after the transition is active.

Some steps do not have an action to execute. These steps will remain in the waiting status, with no processing to perform until the transition conditions are met. Steps, which do not have an action to execute, are referred to as “dummy steps”.

Transition

Step

ction

Can be multiple (Number unlimited).

Jump: Jumps to the destination step

Supported

Boolean variable (Bit) Boolean address (Bit) ST expression Program (Ladder or ST)

Supported Boolean variable (Bit)

Boolean address (Bit) Program (Ladder or ST)

Step Types

There are following types of steps:

• Initial step

• Normal step

• Subchart step

Initial Step

Step 1

Normal Step

Step 1

Subchart Step

Step 1

Subchart 1

Elements of SFC Section 2-3

Initial Step

An initial step is the step that unconditionally becomes active upon program execution start. All other steps are inactive at this moment. It is also the first step to be executed in the SFC chart. When the initial step becomes active, the actions defined in the initial step are executed. The initial step is represented as shown below.

Step 1

• Only one initial step can be created within an SFC chart.

• The initial step does not necessarily need to be positioned at the head of the

program.

• An initial step can hold one or many action blocks.

• When the initial step becomes active, action blocks assigned to the step are

executed.

If the power supply is turned OFF during SFC program execution. The program will be executed from the initial step when the power supply is turned back ON. To perform initialization when continuing operation or to select the steps with the step control instructions to continue step operation, include status control programming in the initial step.

Normal Step

A normal step is the step that becomes active if the transition condition is met. When the step becomes active, the actions defined in the normal step are executed. The normal step is represented as shown below.

Step 1

• There is no limit on the number of normal steps used within an SFC chart.

• A normal step can hold one or many action blocks.

• When a normal step becomes active, action blocks assigned to the step are

executed.

Subchart Step

A subchart step is the step that calls up the subordinate SFC chart (subchart) from an SFC chart. The subchart step is represented as shown below.

Step 1

Subchart 1

A subchart is the macro expansion of an SFC step into a group of SFC programs, similar to the subroutine of a conventional programming language.

Elements of SFC Section 2-3

Subchart Step

Step 10

Step 11

Subchart 1

Step 12

Step 1

Trans1

Step 2

Trans2

Step 3

Subchart Entry Terminal

Entry Step

FALSE

Return Step

Subchart Return Terminal

Subchart

A subchart is called up by a subchart step. Its execution begins at the subchart entry terminal, and returns to the main process flow at the subchart return terminal.

• There is no limit on the number of subchart steps used within an SFC chart.

• If the transition conditions (for the downside transition) are met while a subchart step

is active, the active status is not transferred to the next subchart step until the SFC within the subchart reaches its return step.

• The processing of a subchart always begins at the subchart entry terminal () and ends at the subchart return terminal (

).

• When the return step becomes active, it will remain active until the active status is transferred for the parent subchart.

• Each subchart requires one entry step and one or more return steps. There is no limit on the number of return steps within a subchart.

• A subchart can call up another subchart. There is no limit on the subchart layers.

• When the return step becomes active and the subchart is terminated, all other active steps within the subchart are simultaneously terminated.

• A subchart step does not hold any action.

• A single subchart can be called up by multiple subchart steps. When two subchart

steps attempt to call up the same subchart, however, the latter caller must wait until subchart execution is completed for the former caller.

Elements of SFC Section 2-3

Step Control Instructions

Step control instructions (SA, SE, TSR, TSW) can be used to control SFC steps. SA: Activate step (Switches a step to the activate status) SE: Deactivate step (Switches a step to the inactivate status) TSR: Read step timer value instruction (Reads the present value of the step timer) TSW: Set step timer value instruction (Updates the present value of the step timer)

In each of the instructions, the step flag is specified as follows:

• For within the same task [step name].X For within another task

In each of the instructions, the step timer is specified as follows:

[program name].[step name].X

• For a step within the same task [step name].T

• For a step within another task [program name].[step name].T

• For a subchart step within the same task [subchart name].[step name].T

• For a subchart step within another task [program name].[subchart name].[step

name].T

For details on step flags, refer to the following description under Flags Used to Monitor a Step’s Active Status.

Step activation/deactivation instructions can be used for the following

purposes.

Controlling a Step in an SFC Program from an External Ladder Program

Ladder Program

Deactivate

SFC Program

ctivate

Elements of SFC Section 2-3

Controlling a Step in an SFC Program from an Action Ladder Program within

the Same SFC Program

SFC Program

ctivate

Controlling an SFC Step from an Action Ladder Program within Another SFC

Program

SFC Program

ctivate

Note: If the SA step control instruction is used to activate another step in the same

SFC program from an action ladder program in the SFC program, the activated step’s action will be executed in the next cycle.

If the SA step control instruction is used to activate a step in a different SFC program from an action ladder program in the SFC program, the activated step’s action will be executed in the current or in the next cycle, depending on the order of the SFC program execution task numbers.

• If the SFC program containing the step activated with the SA step control

instruction has already been executed, the activated step will be executed in the next cycle.

• If the SFC program containing the step activated with the SA step control

instruction has not yet been executed, the activated step will be executed in the same cycle.

Step timer value read/set instructions can be used in the same way as step

activation/deactivation instructions.

• A step can have a step timer to maintain the time, which has elapsed since the step

became active. For each step, the time unit on the step timer can be set to either of the following:

Elements of SFC Section 2-3

• 100 milliseconds

• 1 second

• The first operand time range for a step timer value instruction reading varies,

according to the time unit of the specified step timer, as follows.

• 100 milliseconds 0 to 6553.5 seconds

• 1 second 0 to 65535 seconds

• Actions with the action qualifier D, DS, or L are executed in synchronization with

the step timer. Caution should therefore be exercised when making changes to the step timer of a step, which has those action qualifiers in its actions.

• When the step becomes inactive, the step timer is stopped, and the elapsed time data is saved. The step timer is reset when the step becomes active again.

• When the step timer value reaches the upper limit, the timer will stop and maintain the maximum value.

For detailed specifications of step control instructions, refer to Appendix A – Specifications for Step Control Instructions.

Precautions on Subcharts

Executing the SA Step Control Instruction for a Subchart Step

When the SA step control instruction is executed for a subchart step, that subchart step will become active, and the subchart will operate from the entry step.

Executing the SE Step Control Instruction for a Subchart Step

When the SE step control instruction is executed for a subchart step, that subchart step will become inactive, and the subchart’s operation will stop. (Active steps in the subchart will become inactive.)

Using the SA and SE Step Control Instructions in a Subchart Step

The SA and SE Step Control Instructions cannot be used for a step in the same subchart.

Note: SFC operation is different in the CV-series PLCs. In the CV-series PLCs, subchart steps

can be used in instruction operands.

Operation When Multiple Subchart Steps Calling the Same Subchart Are

Active

• When a given subchart step is active, another subchart step calling the same

subchart can become active by a status transition or execution of the SA instruction (see note). In this case, the subchart’s current execution status will not change. Execution of the subchart for any other subchart steps will standby until the subchart step that first called the subchart becomes inactive.

• If the subchart step for which the subchart is currently being executed changes to

inactive status or the subchart step is deactivated with the SE instruction, the subchart will be executed again from the entry step for any other subchart step that was in standby status.

• If a subchart is currently being executed for one subchart step and another subchart

step calling the same subchart changes to inactive status or the subchart is deactivated with the SE instruction, the subchart execution will continue as long as the subchart step for which the subchart is currently being executed is still active.

Note: SFC operation is different in the CV-series PLCs.

In the CV-series PLCs, if a given subchart step is active, another subchart step calling the same subchart cannot become active by a status transition or execution of a step control instruction. In this case, execution of the previous step continues, and the step goes into standby status.

• When multiple subchart steps are in standby status, the subchart that is executed

next is determined by the order in which the subchart steps are registered. The execution order can be confirmed in the Action Used List Dialog Box. Refer to Checking Action Usage under 2-3-3 Action Blocks.

Elements of SFC Section 2-3

Flags Used to Monitor a Step’s Active Status

Step Flags

These flags indicate the steps active/inactive status. The flags are expressed as Step_name.X, and each flag will be ON when the corresponding step is active or OFF when the corresponding step is inactive.

Step Timers

These timers indicate how long each step has been active. The timers are expressed as StepName.T, and the timer’s units can be set to 100 ms or 1 s units for each step.

Procedures:

Adding a Step

Right-click a transition, and select Add Step.

Defining the Initial Step

To convert a normal step to an initial step, right-click the normal step, and select Step Type - Initial.

Adding a Subchart Step

Right-click a transition, and select Add Subchart Step - New Subchart.

Defining a Subchart

Right-click a Subcharts folder in the project workspace, and select Insert SFC Subchart.

Administering a Step Control Instruction

Input the instruction as a regular ladder instruction, and specify the target step flag.

2-3-2 Transitions

A transition represents the condition in which the active status transfers from the step before the transition to the step after it. One transition must be set between steps. The transition is represented as shown below.

Trans1

FAL S

Operation of Transitions

When the transition condition is met, the step before the transition becomes inactive and the step after it becomes active. In this way, the transition controls the program flow from step to step.

• When representing transition conditions with transition programs, turning a transition program name ON will turn the represented transition condition ON.

Transition Conditions

Transition conditions are to be defined on the right-hand side of the figure. When a transition is added to the SFC editor, its default condition is the ST expression “FALSE”. The condition equation for a transition can be set to any one of the following:

• Bit (Boolean variable or actual address)

• ST expression

• Transition program name

Elements of SFC Section 2-3

Boolean Action (Bit)

Boolean Variable

A transition condition can be defined using a Boolean variable name.

Example: In the case of “bFlag”, the condition is met when “bFlag” is ON.

Actual Address (Bit)

A transition’s condition can be defined using an actual address (bit).

ST Expression

A transition condition can be defined using an ST expression. Formats for ST-programmed condition equations are listed below:

Formats for Boolean Variables in Defining Transitions with ST Expressions

Operator Name

Parenthesis () (a & b) OR c Condition met if both “a” and “b” are ON, or if

Complement NOT NOT bFlag Condition met if bFlag is OFF AND AND, & a & b Condition met if both “a” and “b” are ON Exclusive OR XOR a XOR b Condition met if “a” differs from “b” OR OR a OR b Condition met if “a” or “b” is ON Equality = a = b Condition met if “a” and “b” are the same

Operator Example Details

“c” is ON

Formats for INT, DINT, LINT, UINT, UDINT, ULINT, CHANNEL, REAL, LREAL, WORD, DWORD, LWORD, UINT_BCD, UDINT_BCD, and ULINT_BCD Variables in Defining Transitions with ST Expressions

Operator Name

Parenthesis () (nValue = 10) & a Condition met if nValue is 10 and “a” is ON

Operator Example Details

Comparison <, >, <=, >= nValue >= 10 Condition met if nValue is 10 or greater Equality = nValue = 10 Condition met if nValue is 10 Inequality <> nValue <> 10 Condition met if nValue is not 10

Transition Program

Program names may be used as transition conditions. A transition program can be coded using either Ladder or ST as the language. In CX-Programmer, a transition condition is met when the Boolean variable with the same name as the transition program is switched to “ON”.

Example 1: “b” bit for “a”

PRG

ny name

Transition Program Name

PRGa

Condition met if “a” is OFF

Elements of SFC Section 2-3

Example 2: OR bits for “a” and “b”

TRANS

ny name

Transition Program Name

TRANSa

Condition met if “a” or “b” is ON

When a transition program is used as a transition condition, specify a transition program name for the transition condition. If a conditional equation is specified with a different Boolean variable name, than that of transition program name for the transition condition, the program will not run properly.

b OR TRANS

nother Boolean

Variable name

Transition Program Name

TRANSa

The condition of a Boolean output that was used inside a transition program is also retained after moving to the next step.

Ladder Program

Some instructions are not supported when defining a transition program in ladder logic. For details, refer to 1-5-4 Ladder Language Instructions That Can Not Be Used in Action Programs and Transition Programs. Do not use timer instructions in a transition program. A timer that has timed out cannot be reset in a transition program. An END instruction is not required at the end of a ladder transition program.

ST Program

For specifications on the ST language used when defining transition programs in ST, refer to Part 2: Structured Text (ST) in the CX-Programmer Operation Manual Function Blocks/Structured Text (Cat. No. W447).

Procedures:

Adding a Transition

Right-click a step, and select Add Transition.

2-3-3 Action Blocks

An action block is used to program the processes for a step. A single step can register multiple action blocks. An action within an action block can have the following information registered.

• Action Qualifier (AQ)

• Action name

• Indicator Variable

An Action block is represented as shown below. In the following figure, action qualifier (AQ), action name, and indicator variable are illustrated, from left to right.

Elements of SFC Section 2-3

AQ A

Step 2

N Action 1

N bFlag

ction Name

• An action block is inserted into a single step.

• There is no limit on the number of actions registered with an action block.

Administering Action Blocks

When a step becomes active, all actions in its action block are executed according to the conditions set by the action qualifier. While a step is in the active status, each action in its action block is executed once each cycle. During a cycle, action blocks are executed in sequence, from top to bottom, when Boolean bits are specified. With action programs, the programs are executed in sequence after execution of the Boolean bit actions, and the sequence is from top to bottom, in the order that they appear in the project workspace.

Action Qualifier (AQ)

AQ defines the execution timing for each action. It can determine how the actions should be executed when the step becomes active. Only one AQ can be specified for each action. The action’s type determines whether the outputs are held or reset when the step goes from active to inactive status. When necessary, change the initial settings or add reset processing to the program.

• When a bit is specified, the output is reset when a holding action qualifier (S) is not specified. The output status is held if a holding action qualifier is specified.

• With ladder programs, the outputs are reset by default. The default setting can be changed to hold the output’s status.

• With ST programs, the status of the outputs in the program is held by default. When necessary, write reset processing in the program and use the Action Flag (a flag that goes ON when the corresponding step in an ST program becomes inactive) to control the reset processing.

Note: For details, refer to 1-5-1 Holding or Resetting an Action’s Outputs.

Types of Action Qualifiers (AQs)

There are 11 AQ types, as follows. D, DS, L, SD, and SL have a time element. For functions and for time element availability of the 11 AQ types, refer to the following table.

AQ List

Symbol

D Delay The action is executed after the user-specified time has

DS Delay SET Carries out the same operation as "SD". In contrast to “SD”,

L Limit When the step becomes active, the action is executed until

N Normal

Name Function Timer Set

passed, since step activation. If the step becomes inactive before the user-specified time expires, the action will not be executed.

the action will not be performed if the step becomes inactive before the user-specified delay time expires. To cancel the execution, use the “R” AQ.

the user-specified time expires. Should the step become inactive, execution of the action will be terminated.

The action is executed for as long as the step is active.

(Default)

Indicator Variable

Required?

Yes

Elements of SFC Section 2-3

P Pulse If the final scan function is enabled, the action is executed for

two cycles when the step becomes active. If the final scan function is disabled, the action is executed for only one cycle when the step becomes active.

P1 Rising

Pulse

P0 Falling

Pulse

R Reset When a step becomes active, and its action is being executed

S Set The action is executed when the step becomes active, and

SD Set

Delay

SL Set

Limit

The action is executed once, each time the step becomes active.

The action is executed once, each time the step becomes inactive.

by the "S", "SL", "SD", or "DS" AQ, the specified action is stopped and reset. If the action is being executed, but not by the "S", "SL", "SD", or "DS" AQ, then the action is only reset (not stopped). The reset operation sets the following: OUT/OUT NOT instruction: “OFF”; TIM/TIMH instruction: “Reset”; Other Timer/Counter/Shift registers: “Hold”.

continues to be executed, even after the step becomes inactive. To cancel the execution, use the “R” AQ.

The action is executed after the user-specified time has passed, since step activation, and continues to be executed, even after the step becomes inactive. To cancel the execution, use the “R” AQ.

The action is executed when the step becomes active, and until the user-specified time expires. In contrast to “L”, the action continues to be executed even after the step becomes inactive. To cancel the execution, use the “R” AQ.

Yes

The timer set value is a setting used by AQs, which require a time element. Timer set value is required by the following AQs: D, DS, L, SD, SL D, DS, and L control the timing of action execution, using the step timer. The time unit on the timer is the same as that on the step timer for the step to which the action block is allocated. SD and SL control the time using a different timer than the step timer, since they operate independently of step status.

Elements of SFC Section 2-3

Action Execution Timing for Action Qualifiers (AQs)

Step Status

Executed

Not Executed

Set Value

ctive status

Inactive status

* Executed just twice when the

final scan function is enabled. Executed just once when the final scan function is

disabled. (When the action is a bit, it i ON for just one cycle.)

Set Value

Actions

An action is executed when a step changes to the active status. Actions can be specified as either of the following:

• Bit (Boolean variable or actual address)

• Action program name

When an action is defined as a Boolean variable (bit), the bit is turned ON when the action is executed, and turned OFF when the action is stopped. When an action is defined as an action program name, the action program is executed when the action is executed, and stopped when the action is stopped.

Note: Multiple steps can run the same action program within a single execution of the SFC. Only

simultaneously activated steps are affected by single scan execution.

Boolean Variable or Actual Address (Bit)

An action block can be defined as a Boolean variable or actual address (bit). When the step becomes active, the Boolean variable or actual address (bit) is turned ON according to the AQ, and the bit is turned OFF if the action stops.

Set Value

Termination of execution by the “R” AQ

Elements of SFC Section 2-3

Action Program

If the action is executed, the specified action program is executed.

Note: The same action program can be specified in multiple steps of an SFC chart. When two or

more steps are active at the same time and have the same action program specified, that action program is executed just once in a cycle.

An action program can be coded using either Ladder or ST as the language.

Ladder Program

An action block can be defined as a ladder program. Some instructions are not supported when defining an action program in ladder logic. For details, refer to 1-5-4 Ladder Language Instructions Can Not Be Used in Action Programs and Transition Programs. In ladder programs, the Reset Output at Final Scan Option can be selected in the action’s properties to turn OFF the ladder program’s outputs when the step is inactive. If function blocks are used in the ladder program, the status of outputs used in the function blocks will be held.

Note: If the action qualifier is set to “N”, the ladder program may not be able to correctly detect

the step “rising” to the active status. For this reason, if a process is to be executed only once, upon the activation of the step, the “P1” action qualifier should be used.

ST Program

An action block can be defined as an ST program. For specifications on the ST language used when defining transition programs in ST, refer to Part 2: Structured Text (ST) in the CX-Programmer Operation Manual Function Blocks/Structured Text (Cat. No. W447).

Action Execution Order

Refer to 1-5-2 on Action Program Precautions for information on the order of execution of actions within a step and the actions within multiple active steps.

Checking Action Usage

It is possible to display a list of all of the actions (Boolean bit specifications and action programs) in a single SFC program. Select Program – Action used list. The following dialog box will be displayed, so that the use of the actions can be checked.

• Selecting the Main SFC • Selecting a Subchart

• Steps are displayed from the top in the order in which they are registered. Multiple active subcharts are executed in the order in which they are registered, i.e., from top down as they are displayed in the dialog box.

Elements of SFC Section 2-3

• If an action is used in more than one step, it will be displayed in parentheses from the second occurrence on to indicate that it is used more than once.

Flags Indicating the Execution Status of Actions

There are two kinds of flags that indicate an action’s execution status. Both kinds of flags are changed by the step’s active/inactive status, and both can be used as bits in ladder and ST programs.

Action Flag Q (Action_name.Q)

This flag is ON when the step is active, and goes OFF when the step is inactive. This flag can be used as an input condition in a ladder or ST program to prevent execution of a process when a step is deactivated. The flag can also be used as an input condition in an ST program when resetting outputs.

Action Flag A (Action_name.A)

This flag is ON when the step is active, and goes OFF when execution of the final scan is completed after the step is deactivated.

Use the Action Flag A as a set with the Action Flag Q when special processing must be performed for the final scan in a ladder or ST program.

The following diagram shows the operation of the action flags when the final scan function was enabled by selecting the Apply Final Scan Logic Option in the General Tab of the SFC program’s Property Dialog Box.

Step

Action Qualifier = N

Action flag Q

(Action_name.Q)

Action flag A

(Action_name.A)

Action

OFF

Executed

Not executed

Active status

Normal

processing

1 scan (cycle)

End

processing

The following diagram shows the operation of the action flags when the final scan function was disabled by clearing the Apply Final Scan Logic Option on the General Tab Page of the SFC program’s Property Dialog Box.

Elements of SFC Section 2-3

Step

Action Qualifier = N

Action flag Q

(Action_name.Q)

Action flag A

(Action_name.A)

Action

Indicator Variable

A variable name can be registered to represent an action. Nothing will be executed, however.

Active status

OFF

Executed

Not executed

Procedures:

Adding an Action

Right-click a step and select one of the following from Add Action - Boolean Action, New Ladder Action,

Selecting an AQ

Double-click an AQ in an action block, and select from the combo list.

Changing the Time Set Value for an AQ

Right-click an action block, and select Edit Action Qualifier Time.

Adding a Boolean Variable

Directly input the name of a Boolean variable as the action name. Or, double-click the right-hand side of an action block, click the [ variable name. Clicking [ table.

Defining an Action Program

Right-click the Actions folder in the project workspace, and select either Ladder or Structured Text, both under Insert Action.

Adding a Ladder Program

Right-click a step and select Add Action - New Ladder Action, or (if an action program is already registered) select Existing Action to use an existing action program.

Adding an ST Program

Right-click a step and select Add Action - New Structured Text Action, or (if an action program is already registered) select Existing Action to use an existing action program.

New Structured Text Action, Existing Action.

] on the right, and select a registered

] will display all local variables registered in the variables

Elements of SFC Section 2-3

2-3-4 Divergences

A divergence is a program control structure for SFC, in which two or more transitions are connected after a single step. A divergence is represented by a single horizontal line. With a divergence, the process flow branches from a single step to two or more steps, and active status is transferred for the branch on which the transition conditions are met.

Step 2

FAL SE

Step 3

Administering Divergences

If a step before a divergence is in the active status and one of the transition conditions after that divergence is met, the active status will be transferred, provided that the step after the transition is currently in the inactive status.

• If multiple transition conditions at a divergence are simultaneously met, priority will be given to the left-most step. (Transition at a divergence can only take place for one step.) If the priority of the steps has been changed, however, active status will be transferred according to the priority order.

Procedures:

Adding a Divergence

Right-click a step and select Add Divergence. To make a divergence with three or more branches, right-click an existing divergence, and select Add Divergent Transition Branch to add a branch.

Note: Right-click the divergence and clear the selection of the Use Default Transition

Precedence to display the execution order numerically, starting from 1. The order of execution can be specified freely by double-clicking a corresponding number and changing it.

FAL SETrans2 Trans3

Step 4

2-3-5 Convergences

A convergence is a program control structure for SFC, in which a single step is connected after two or more transitions. A convergence is represented by a single horizontal line. A convergence merges a process flow, which has been split into two or more process flows (i.e. by a divergence).

Step 3

FAL SE

Step 5

Step 4

FAL SETrans4 Trans5

Elements of SFC Section 2-3

Administering Convergences

If a step before a convergence is in the active status and its transition conditions are met, the active status will be transferred provided that the step after the transition is currently in the inactive status.

Procedures:

Adding a Convergence

Right-click a transition and select Add Convergence. Right-click an existing convergence and select Connections - Add Connection, or right-click and select Connections - Add Connection to Convergence.

2-3-6 Simultaneous Sequence Divergences

A simultaneous sequence divergence is a program control structure for SFC, in which two or more steps are connected after a single transition. A simultaneous sequence divergence is represented by two horizontal lines. A single step is branched into two or more steps, which are made active at the same time.

FALSE Trans2

Step 3 Step 4

Administering Simultaneous Sequence Divergences

If a step before a transition is in the active status and its transition conditions are met, the active status will be transferred to all the steps after the divergence at the same time, provided they are all currently in the inactive status. Following the transfer, all the steps immediately after the double line are simultaneously made active, and are executed in order from left to right.

Procedures:

Adding a Simultaneous sequence divergence

Right-click a transition and select Add Simultaneous Sequence Divergence. To make a simultaneous sequence divergence with three or more branches, right-click an existing simultaneous sequence divergence, and select Add Simultaneous Divergent Step Branch to add a branch.

2-3-7 Simultaneous Sequence Convergences

A simultaneous sequence convergence is a program control structure for SFC, in which a single transition is connected after two or more steps. A simultaneous sequence convergence is represented by two horizontal lines. A simultaneous sequence convergence merges a process flow, which has been split into two or more process flow (i.e. by a simultaneous sequence divergence).

Elements of SFC Section 2-3

Step 3

FAL SETrans3

Administering Simultaneous Sequence Convergences

If all the steps before a transition are in the active status, and their transition conditions are met, the active status will be transferred from all the steps before the transition to the step after the transition at the same time, provided that the step following the transition is currently in the inactive status.

Procedures:

Adding a Simultaneous Sequence Convergence

Right-click a step and select Add Simultaneous Sequence Convergence. Right-click an existing simultaneous sequence convergence and select Connections - Add

Connection, or right-click and select Connections - Add Connection to Convergence.

2-3-8 Connections

A connection is the line, which connects elements such as steps and transitions, and represents the process flow.

Step 4

Connections

Jump (Loop)

This is a function with which to make the execution “jump” from a transition to a specified step. A jump and a loop are functionally identical, but whereas the source and the destination are not connected for a jump, they are connected for a loop.

Jump

Step2…Jump

Jump Entry

……

Step 2

Elements of SFC Section 2-3

Loop

Step 1

Skip

Trans1

Trans2

Step 2

FAL SE

• With a jump, an arrow and the step number for the jump destination are described after a transition.

• A jump entry is represented by an arrow immediately before the jump destination step (after the transition).

• When the transition conditions for the transition after the jump source step are met, the active status is transferred, provided that the jump destination step is currently in the inactive status.

Procedures:

Adding a Jump

Right-click a transition, select Connections - Add Jump From Transition to prepare a connection, and then connect it to step, which will become the destination of the jump.

Skip is a divergence, which has a transition element but no step element.

Step 2

Trans2 FALSE

Step 3

Trans5

Trans7

Trans9

FALSE

Step 5

FALSE

Step 6 Step 7

FALSE

Step 8

Tran s3

Tran s6

Tran s8

Trans10

Step 4

FALS E

Trans4

FALS E

Procedures:

Adding a Skip

Right-click a convergence, select Connections - Add Connection To Convergence to prepare a connection, and then connect it to the transition to be skipped.

2-3-9 Automatic Registration of SFC Elements as Local Variables

When a step, an action program, a transition, action with a bit specification, or an SFC element for a subchart is created, a system variable is automatically registered in the local symbol table.

SECTION 3

Offline Operations

3-1 Creating an SFC Program..........................................................................................64

3-1-1 Creating a New Project...................................................................................................64

3-1-2 Creating (Inserting) a New SFC Program.......................................................................64

3-1-3 Allocating an SFC Program to a Task.............................................................................65

3-2 Editing the SFC Chart ...............................................................................................67

3-2-1 Default Elements of an SFC Program.............................................................................67

3-2-2 Editing (Inputting) a Transition.......................................................................................68

3-2-3 Adding an Action to a Step (or to the Initial Step)..........................................................70

3-2-4 Adding a Transition ........................................................................................................75

3-2-5 Adding a Step..................................................................................................................76

3-2-6 Inserting Immediately Before a Step or Transition.........................................................77

3-2-7 Creating a Divergence/Convergence...............................................................................77

3-2-8 Creating a Simultaneous Sequence Divergence/Convergence........................................79

3-2-9 Adding a Subchart...........................................................................................................81

3-2-10 Connecting to the Initial Step with a Jump (or Loop).....................................................84

3-2-11 Editing Independent (Isolated) SFC Elements................................................................85

3-2-12 Tidying an SFC Chart .....................................................................................................87

3-2-13 Changing the Step Type..................................................................................................87

3-3 Searching and Replacing within an SFC Chart.........................................................88

3-3-1 Searching within an SFC Chart.......................................................................................88

3-3-2 Substituting within an SFC Chart....................................................................................88

3-3-3 Cross-Reference Report..................................................................................................89

3-3-4 Address Reference Tool..................................................................................................89

3-4 Offline Program Check..............................................................................................90

3-4-1 SFC Program Check........................................................................................................90

3-4-2 Checking All Programs...................................................................................................90

3-5 Miscellaneous............................................................................................................91

3-5-1 Array Variables...............................................................................................................91

3-5-2 Printing............................................................................................................................92

Creating an SFC Program Section 3-1

3-1 Creating an SFC Program

3-1-1 Creating a New Project

1 Start CX-Programmer and select New from the File menu. 2 From the Device Type list on the Change PLC dialog, select a PLC model, which

supports the SFC programming function; a list of which is provided below.

PLC Model CPU Type

CJ2H Type: CJ2H-CPU68/67/66/65/64/68-EIP/67-EIP/66-EIP/65-EIP/64-EIP

CS1G-H Type: CS1G-CPU45H/44H/43H/42H

CS1H-H Type: CS1H-CPU67H/66H/65H/64H/63H

CJ1G-H Type: CJ1G-CPU45H/44H/43H/42H

CJ1H-H Type: CJ1H-CPU67H/66H/65H/67-R/66-R/65-R/64-R

CJ1M Type: CJ1M-CPU23/22/21/13/12/11

3 Press the Settings button to select a CPU type.

For details on other settings, refer to the CX-Programmer Operation Manual (Cat. No. W446).

3-1-2 Creating (Inserting) a New SFC Program

Use the following procedure to create an SFC program for a project. 1 In the project workspace, right-click the Programs item, and select Insert Program

- SFC from the pop-up menu.

2 An SFC program is inserted into the project workspace, and the SFC editor is

displayed in the right of the workspace.

Note: You can also create programs in either ladder or ST. Right-click the Programs item in the

project workspace, and select Insert Program - Ladder or Insert Program - Structured Text from the pop-up menu. For details on ladder programs, refer to the CX-Programmer Operation Manual (Cat. No. W446). For details on ST programs, refer to the CX-Programmer Operation Manual – Function Blocks and Structured Text (Cat. No. W447).

Note: SFC programs can be set as the default program of a newly created project. Setup is

performed on the PLCs tab under Tools - Options. For details, refer to 1-3-6 Environmental Settings Unique to the SFC CX-Programming Functions.

SFC chart editor has 3 types of SFC elements (Initial Step, Transition, and Step) registered by default.

Creating an SFC Program Section 3-1

3-1-3 Allocating an SFC Program to a Task

An SFC program inserted into a project must be allocated to a “task”, which is the unit for execution. A program that is yet to be allocated to a task will be shown in the project workspace with a check mark on its program icon.

Note: The following procedure for allocating a program to a task may be postponed until

program creation is completed. Be sure to allocate the program, however, before transferring it to the PLC as a user program.

Use the following procedure to allocate a program to a task.

1 In the project workspace, right-click the inserted SFC program item, and then

select Properties from the pop-up menu.

2 On the General tab of the displayed Program Properties dialog, select a task from

the Task Type list. To set the program name, input the program name into the Name text box at this point.

Creating an SFC Program Section 3-1

3 Click the close button to close the Program Properties dialog.

4 When the program is allocated to a task, the check mark will be removed from its

SFC program item icon in the program directory. Furthermore, the task to which the program is allocated will be indicated in parenthesis, next to the program name.

Editing the SFC Chart Section 3-2

3-2 Editing the SFC Chart

This section describes the process of creating an SFC chart using the SFC editor to connect various SFC elements.

3-2-1 Default Elements of an SFC Program

When a new SFC program is created in the project workspace, the following SFC elements are automatically generated in the SFC editor.

Initial Step

Transition

Step

Transition Conditions

Initial Step

This is the step that becomes active upon program execution start. It is represented by a double-line frame. It will be assigned the name, [Step 1] by default, but this can be changed. For details, refer to 1-3-6 Environmental Settings Unique to the SFC CX-Programming Functions.

Transition

The transition conditions (conditions for transferring from the active step to the next step) are set to the right-hand side of a transition in one of the following ways.

• Bit (Boolean variable or actual address)

• Inputting a ST expression (other than FALSE)

• Inputting a transition program name (ladder or ST)

Transition conditions are set to the ST expression “FALSE” (conditions not fulfilled) by default.

Step

A step is the box in which the processing details for a single process are stored. It is represented by a single-line frame. It will be assigned the name, [Step 2] by default, but this can be changed. For details, refer to 1-3-6 Environmental Settings Unique to the SFC CX-Programming Functions. Processes can be added as “actions” in an action block, for execution upon activation of the step. There is no limit on the number of actions that can be added.

Editing the SFC Chart Section 3-2

3-2-2 Editing (Inputting) a Transition

A transition condition can be defined by direct input of a Boolean variable or by an ST expression. Alternatively, a transition program can be utilized by specifying the name. 1 To input a transition condition, double-click the target transition, or right-click and

select Edit Transition Condition from the pop-up menu.

The default display (ST expression of “FALSE”) changes to the editable state.

2 Input a Boolean variable (e.g. “a”), an ST expression (e.g. “a=b”), or a transition

program name.

Creating a Transition Program and Defining it as a Transition

A transition program can be created in advance, for use as a transition condition. Transition programs can be coded in either ladder or ST. 1 Right-click the Transitions folder in the project workspace, and select Insert

Transition – Ladder or Structured Text from the pop-up menu.

A transition program (ladder or ST) will be registered under the Transitions folder.

2 Double-click a transition program item (ladder or ST) in the project workspace, or

right-click and select Open from the pop-up menu.

Editing the SFC Chart Section 3-2

The edit window for the transition program (ladder or ST) will open, allowing you to create the program. For details on editing in ladder or ST, refer to the CX-Programmer Operation Manual (Cat. No. W446).

3 Input the name of the transition program as a transition condition.

Assigning a Transition Program Name to a Transition

A transition program can be set as a transition condition by assigning its name to a transition. Transition program names can be changed so that they are more self-explanatory. 1 Right-click the Transitions folder in the project workspace, and select Properties

from the pop-up menu.

The Transition Properties dialog is displayed. 2 Under the General tab, input the transition program name into the Name field. 3 Click the close button to close the Transition Properties dialog. 4 Input the new transition program name as a transition condition.

Editing the SFC Chart Section 3-2

3-2-3 Adding an Action to a Step (or to the Initial Step)

Right-click a step (or the initial step), select Add Action from the pop-up menu, and select one of the following.

• Boolean Action (Boolean variable or actual address)

• New Ladder Action

• New Structured Text Action

• Existing Action

Adding a Boolean Variable Action Block

Action blocks can be inserted into each step of an SFC chart. Here, a Boolean variable (bit) action block will be inserted. 1 Select and right-click a step, and select Add Action - Boolean Action from the

pop-up menu.

Note: Multiple action blocks can be inserted into a single step by repeating this procedure. If a

step contains multiple action blocks, they will be executed in sequence from top to bottom.

An action block is inserted to the right of the step.

2 Clicking in the action will display a ‘Browse’ button “[…]”. The Select Symbol dialog

box (shown below) will be displayed.

3 Select a variable from the list shown, or enter a variable name in the Symbol field,

and click OK.

Note: The variables shown are already registered in the local symbol table. If the entered

variable does not currently exist, enter the variable name in the Name field, and click OK. A prompt to create the variable will be displayed. If ‘Yes’ is selected, then a variable will be added to the Local Symbol table.

Editing the SFC Chart Section 3-2

Adding a Ladder Program Action Block and Editing the Ladder Program

Action blocks can be inserted into each step of an SFC chart. You can insert a ladder program, an ST program, a Boolean variable, or an actual address as an action block. Here, a ladder program will be inserted as an action block. 1 Select and right-click a step, and select Add Action - New Ladder Action from

the pop-up menu.

Note: Multiple action blocks can be inserted into a single step by repeating this procedure.

2 An action block is inserted to the right of the step.

When the action block is inserted, the program view will switch to the edit window for ladder programs. Furthermore, a ladder program item will be added to the project workspace. (An icon will indicate that the item is a ladder program.)

3 Use the program view to edit the ladder action program.

The ladder editing procedure is the same as for CX-Programmer. Refer to the CX-Programmer Operation Manual (Cat. No. W446).

Adding an ST Program Action Block and Editing the ST Program

Action blocks can be inserted into each step of an SFC chart. You can insert either a ladder program, an ST program, a Boolean variable, or an actual address as an action block. Here, an ST program will be inserted as an action block. 1 Select and right-click a step, and select Add Action - New Structured Text

Action from the pop-up menu.

Note: Multiple action blocks can be inserted into a single step by repeating this procedure.

2 An action block is inserted to the right of the step.

When the action block is inserted, the program view will switch to the edit window for ST programs. Furthermore, an ST program item will be added to the project workspace. An icon will indicate that the item is an ST program.

3 Use the program view to edit the ST action program.

The ST editing procedure is the same as for CX-Programmer. Refer to the

Editing the SFC Chart Section 3-2

CX-Programmer Operation Manual (Cat. No. W446).

Creating an Action Program in Advance and Assigning as an Existing

Program

An action program can be created in advance, and can be assigned to an SFC chart action block as an “existing action.”

Creating a New Action Program

New action programs can be created in either ladder or ST. 1 Select and right-click an Actions folder in the project workspace, and select Insert

Action - Ladder or Structured Text from the pop-up menu.

An action program (ladder or ST) will be registered under the Actions folder.

2 Double-click the action item (ladder or ST), or right-click and select Open from the

pop-up menu.

The edit window for the action program (ladder or ST) will open, allowing you to create the program. For details on editing in ladder or ST, refer to the CX-Programmer Operation Manual - Function Blocks and Structured Text (Cat. No. W447).

3 Right-click a step, and select Add Action - Existing Action from the pop-up

menu.

4 Right-click the added action block, and select Edit Action Name from the pop-up

menu.

5 Select the action program from the combo list.

Editing the SFC Chart Section 3-2

Setting AQs (Action Qualifiers)

This section describes how to set an AQ for an action block. One of the 11 AQs must be set for each action block. The default qualifier is ‘N’. Multiple action blocks may be inserted into a single step. If a step contains two or more action blocks, each must be configured independently. 1 Double-click the AQ of an action block, and select an AQ from the combo list.

For specifications on AQ operations, refer to 2-2-3 Action Blocks.

Setting the Timer Unit for a Step Timer

The step timer is started when a step is activated, and when “D”, “L”, “DS” is selected as the AQ, time control of these actions are executed according to the present value of the step timer. The unit of a step timer can be set to seconds or 100 milliseconds. 1 Right-click the step, and select Step Timer - Use Second Timer or Use

Millisecond Timer from the pop-up menu.

Editing the SFC Chart Section 3-2

Setting the Timer Value for an AQ (Action Qualifier)

When “D”, “L”, “DS”, “SD”, or “SL” is selected as the AQ, the timer value must be set. Actions are controlled according to the AQ when the step timer reaches the specified timer value. 1 Right-click an action block, and select Edit Action Qualifier Time from the pop-up

menu.

2 Input the timer value.

0 – 65535 for a one second timer, or 0 – 6553.5 for a millisecond timer.

Note: The unit for the AQ timer value is determined by the step timer setting. Right-click the step,

and select Step Timer - Use Second Timer or Use Millisecond Timer from the pop-up menu.

Hiding the Action Blocks

Action blocks may be shown/hidden on the SFC chart. While the action blocks are displayed, right-click the background of the SFC editor and select Hide All Action Blocks from the pop-up menu.

All action blocks on the SFC chart will be hidden. The number of action block included in a step will be displayed to the right of each step.

Editing the SFC Chart Section 3-2

Alternatively, clicking an action on the SFC chart will display the action in the split

window (program view), as will clicking the number for a hidden action block, which

in turn will display a spin box. Change the number to switch the required action

program displayed in the program view.

Showing the Action Blocks

Action blocks may be shown/hidden on the SFC chart. While the action blocks are hidden, right-click the background of the SFC editor and select Show All Action Blocks from the pop-up menu.

Note: The actions associated with an individual step may be shown/hidden.

While the action blocks are displayed, right click the required step, and de-select Show Action Blocks from the pop-up menu. To display action blocks for an individual step when hidden, right-click the required step, and select Show Action Blocks from the pop-up menu.

When more than one action is registered, the actions are executed from top down in the order they are arrange in the action program tree in the workspace.

3-2-4 Adding a Transition

A transition can be added after a step (or subchart step). 1 Right-click a step (or subchart step), and select Add Transition from the pop-up

menu.

Adding a Transition and a Step

A transition and a step can be simultaneously added after a step (or subchart step). 1 Right-click a step (or subchart step), and select Add Transition and Step from the

pop-up menu.

Editing the SFC Chart Section 3-2

3-2-5 Adding a Step

A step can be added after a transition. 1 Right-click a transition, and select Add Step from the pop-up menu.

Adding a Step and a Transition

A step and a transition can be simultaneously added after a transition. 1 Right-click a transition, and select Add Step and Transition from the pop-up

menu.

Editing the SFC Chart Section 3-2

3-2-6 Inserting Immediately Before a Step or Transition

Inserting a Step and a Transition Before a Step

A step and a transition can be inserted before a step (or subchart step). 1 Right-click a step (or subchart step), and select Insert Step and Transition

Above from the pop-up menu.

Inserting a Transition and a Step Before a Step

A transition and a step can be inserted before a transition. 1 Right-click a transition, and select Insert Transition and Step Above from the

pop-up menu.

3-2-7 Creating a Divergence/Convergence

Creating a Divergence

Adding 2 Transitions

A divergence can be added after a step (or subchart step). 1 Right-click a step (or subchart step), and select Add Divergence from the pop-up

menu.

Editing the SFC Chart Section 3-2

A divergence and 2 subsequent transitions will be added.

When using a divergence, add SFC elements so that each branch ends with a transition, enabling a convergence.

Adding More Transitions

Branches can be added to a divergence. 1 Right-click an existing divergence, and select Add Divergent Transition Branch

from the pop-up menu.

A transition is added to the divergence.

When using a divergence, add SFC elements so that each branch ends with a transition, enabling a convergence.

Creating a Conditional Join

Add a convergence to merge conditionally branched SFC chart process flows. In order to add a convergence, each conditionally branched process flow must have a transition as its terminating element. Right-click one of the conditionally branched transitions, and select Add Convergence from the pop-up menu.

Editing the SFC Chart Section 3-2

A convergence and a subsequent step will be added.

2 Right-click the created convergence, and select Connections - Add Connection

from the pop-up menu.

The Add Connection dialog will be displayed. 3 Confirm that the transitions to be joined are selected in the Add Connection dialog,

and click OK.

The selected transitions will be joined to the convergence.

Note 1: You can also right-click the convergence, select Connections - Add Connection to

Convergence from the pop-up menu, and drag the lead line to the target transition to

connect transitions to a convergence.

2: Right-click the line next to a conditional branch and select Use Default Transition

Precedence to numerically display the execution order starting from 1. Then

double-click the numbers to change the execution order as desired.

3-2-8 Creating a Simultaneous Sequence Divergence/Convergence

Creating a Simultaneous Sequence Divergence

Adding 2 Steps

A simultaneous sequence divergence can be added after a transition. 1 Right-click a transition, and select Add Simultaneous Sequence Divergence

from the pop-up menu.

Editing the SFC Chart Section 3-2

A simultaneous sequence divergence and 2 subsequent steps will be added.

When using a simultaneous sequence divergence, add SFC elements so that each branch ends with a step (or subchart step), enabling a simultaneous sequence convergence.

Adding More Steps

Branches can be added to a simultaneous sequence divergence. 1 Right-click an existing simultaneous sequence divergence, and select Add

Simultaneous Divergent Step Branch from the pop-up menu.

A step is added to the simultaneous sequence divergence.

Creating a Simultaneous Sequence Convergence

Add a simultaneous sequence convergence to merge parallel-branched SFC chart process flows. In order to add a simultaneous sequence convergence, each parallel-branched process flow must have a step (or subchart step) as its terminating element.

1 Right-click one of the branched steps (or subchart steps), and select Add

Simultaneous Sequence Convergence from the pop-up menu.

Editing the SFC Chart Section 3-2

A simultaneous sequence convergence and a subsequent transition will be added. 2 Right-click the simultaneous sequence convergence, and select Connections -

Add Connection from the pop-up menu.

The Add Connection dialog will be displayed. 3 Confirm that the transitions to be joined are selected in the Add Connection dialog,

and click OK. The selected steps (or subchart steps) will be joined to the simultaneous sequence convergence.

Note: You can also right-click the simultaneous sequence convergence, select Connections -

Add Connection to Convergence from the pop-up menu, and drag the lead line to the

target step to connect steps to a simultaneous sequence convergence.

3-2-9 Adding a Subchart

Adding a Subchart Step and Creating a New Subchart Program

A subchart step can be added after a transition. The subchart program can be created later. 1 Right-click a transition, and select Add Subchart Step - New Subchart from the

pop-up menu.

Editing the SFC Chart Section 3-2

When the new subchart step is added, the default SFC subchart will be displayed in the program view. An SFC subchart item will be added to the Subcharts folder in the project workspace.

2 Edit the subchart.

The default subchart contains an entry step, a transition, and a step. Edit the subchart by adding and connecting SFC elements, just as with an SFC chart. The first SFC element must be the entry step, and the last must be the return step

Creating a New Subchart Program and Adding an Existing Subchart Step

A subchart program can be created in advance, and used as an “existing subchart” in adding a subchart step to an SFC chart. Right-click a Subcharts folder in the project workspace, and select Insert SFC Subchart from the pop-up menu.

A subchart program will be registered under the Subcharts folder.

3 Double-click the registered subchart program, or right-click and select Open from

the pop-up menu.

Editing the SFC Chart Section 3-2

The subchart edit window will be displayed. Edit the subchart.

4 Double-click an SFC program in the project workspace, or right-click and select

Open from the pop-up menu.

5 Right-click a transition, and select Add Subchart Step - Existing Subchart from

the pop-up menu.

6 Double-click the subchart step and select the subchart program from the combo

list.

Select from subchart programs that have been registered in the project workspace as Subcharts folder.

Editing the SFC Chart Section 3-2

3-2-10 Connecting to the Initial Step with a Jump (or Loop)

The bottom transition of an SFC chart can be connected to any other step. Right-click the bottom transition, and select Connections - Add Connection from the pop-up menu.

Note: You can also right-click a transition, select Connections - Add Jump from the pop-up

menu, and drag the connection to the jump destination step to establish a connection.

The Add Connection dialog will be displayed. 7 On the Add Connection dialog, select the destination step element. 8 Check the Draw Connection as Jump checkbox and click OK.

Note: For a loop connection, remove the check from Draw Connection as Jump checkbox.

Changing a Loop to a Jump

A loop can be changed to a jump. 1 Right-click a loop transition, and select Connections - Draw Connection From

Transition as Jump from the pop-up menu.

Omron WS02-CXPC1-V8 OPERATION MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual:

Read and Understand this Manual

Warranty and Limitations of Liability

Application Considerations

Disclaimers

Notice:

1-1 SFC Overview

1-1-1 SFC Overview

1-1-2 CX-Programmer Features

1-2 CX-Programmer Specifications

1-2-1 PLC Models Supporting SFC

1-2-2 Specifications

1-3 Window Components

1-3-1 SFC Editor

1-3-2 Menus

1-3-3 SFC Editor Pop-up Menu

1-3-4 Toolbar Icons

1-3-5 Keyboard Shortcuts

1-4 SFC Programming Example

1-4-1 Simple Example of an SFC Program

1-4-2 Procedures for Using CX-Programmer

1-5 Precautions When Creating SFC Programs

1-5-1 Holding or Resetting an Action’s Outputs

1-5-2 Action Program Precautions

1-5-3 Precautions for Transition Programs

1-5-5 Task Allocation

1-5-6 Memory Allocation

1-5-7 Subchart Online Editing Function Restrictions

2-1 SFC Basic Operation

2-2 Basic SFC Execution Cycle

2-3 Elements of SFC

2-3-1 Steps

2-3-2 Transitions

2-3-3 Action Blocks

2-3-4 Divergences

2-3-5 Convergences

2-3-6 Simultaneous Sequence Divergences

2-3-7 Simultaneous Sequence Convergences

2-3-8 Connections

2-3-9 Automatic Registration of SFC Elements as Local Variables

3-1 Creating an SFC Program

3-1-1 Creating a New Project

3-1-2 Creating (Inserting) a New SFC Program

3-1-3 Allocating an SFC Program to a Task

3-2 Editing the SFC Chart

3-2-1 Default Elements of an SFC Program

3-2-2 Editing (Inputting) a Transition

3-2-3 Adding an Action to a Step (or to the Initial Step)

3-2-4 Adding a Transition

3-2-5 Adding a Step

3-2-6 Inserting Immediately Before a Step or Transition

3-2-7 Creating a Divergence/Convergence

3-2-8 Creating a Simultaneous Sequence Divergence/Convergence

3-2-9 Adding a Subchart

3-2-10 Connecting to the Initial Step with a Jump (or Loop)