Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 111)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
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3.1.11 Parallel Execution (PFORK, JOINTO, PJOINT) Command
! Outline
The Parallel Execution (PFORK) command executes the block of designated labels in
parallel. After each process is executed in parallel, they are merged into the label
designated by the JOINTTO command. Up to 4 parallel executions can be designated.
! Detailed Explanation
The Parallel Execution command method is shown as follows:
According to the above command, the blocks (Process1, 2, 3,....) of the PFORK
command-designated label are executed. After each process is executed in parallel, they
are merged into the label designated by the JOINTO command. Up to 4 parallel
executions can be designated.
According to the command, parallel execution of the axis movement and sequence
commands, or parallel execution among the axis movement commands can also be
designated freely.
PFORK
Lable1:
Label2:
Label3:
LabelX:
Label1 Label2 Label3....
Process1
JOINTO LabelX
Process2
JOINTO LabelX
Process3
JOINTO LabelX
•
•
PJOINT
Process1
JOINTOLabelX
Process2
JOINTOLabelX
Process3
JOINTOLabelX
Process4
JOINTOLabelX
PJOINT
Label1 Label2 Label3 Label4
LabelX
Figure 3.11: Parallel Execution Command (PFORK, JOINTO, PJOINT) Method