Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 112)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
3-27
Commands designated before the PFORK command
The values of the commands (FMX, ABS/INC, F reference, IFP, PLN, IAC/IDC...)
designated before the PFORK command are converted to the processes executed by
the Parallel Execution command. Moreover, these commands can be designated to
each parallel. After merge, the value of the process at the far left is converted.
The Parallel Execution command within sub-routine
The Parallel Execution command within a subroutine has the following restrictions:
• Up to 2 parallel executions can be designated in a subroutine.
• The axis movement commands can only be described in the block designated in the
heading label.
Important Points
(1) When duplicate labels exist, an error: “The label is duplicated” occurs.
(2) An error occurs when a branch point of the PFORK command is different from the
number of the label.
PFORK 0002 0003;
0002:MVS [X]100. [Z]100;
JOINTO 0004;
0003: IOW MW10000= =1;
JOINTO 0004;
0004: PJOINT;
PFORK
MVS [X]100. [Z]100. IOW MW10000= =1
The axis movement
command can only
be described in the
block designated
in the heading label.
The axis movement
command cannot
be described in the
block designated
in the second label.
002
003
004
Figure 3.12: Parallel Execution Command Within Subroutine