Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 205)

8 Command Reference
8.4.4 Selective Execution (SFORK, JOINTO, SJOINT)
8-98
(3) Programming Examples
A programming example of selective execution commands (SFORK, JOINTO, SJOINT) is shown below.
Fig. 8.58 Selective Execution Command (SFORK, JOINT, SJOINT) Programming Example
MOV [A1]100.[B1]150.;
MVS [A1]200.[B1]250.F1000;
SFORK MW00100==1 ? 0001,MW00100==2 ? 0002,MW00100==3 ? 0003,DEFAULT ? 0004;
0001:MVS [A1]300.[B1]100.F3000;
JOINTO 0005
0002:MVS [A1]300.[C1]100.F3000;
JOINTO 0005
0003:MVS [C1]300.[S]100.F3000;
JOINTO 0005
0004:JOINTO 0005;
0005:SJOINT;
MOV[A1]500.[B1]500.[C1]500.
EXAMPLE
MVS[A1]300.[B1]100. F3000;
JOINTO 0005 JOINTO 0005
MVS[C1]300.[S]100. F3000;
SJOINT
MOV[A1]100.[B1]150.
MVS[A1]200.[B1]250. F1000;
SFORK
JOINTO 0005
MVS[A1]300.[C1]100. F3000;
MOV[A1]500.[B1]500.
MW00100==2 MW00100==1 MW00100==3
JOINTO 0006
DEFAULT