Yaskawa MP900 Series Motion Programming Manual - Manual (Page 113)

3.1 High-Level Control Commands
3 -23
3.1.11 Parallel Execution Commands (PFORK, JOINTO, PJOINT)
J
Overview
The PARALLEL FORK (PFORK) command performs parallel execution for blocks with the
designated labels. After each parallel process has been executed, execution is merged at the label
designated by the JOINTO command. A maximum of four parallel processes can be designated.
For further information on the labels, refer to 1.2.1 Programming Format.
J Description
An example of the method used to designate the PARALLEL FORK (PFORK) command is
shown in the following illustration.
PFORK Label 1 Label 2 Label 3 ...
Label 1: Process 1
JOINTO Label X;
Label 2: Process 2
JOINTO Label X;
Label 3: Process 3
JOINTO Label X;
:
:
Label X: PJOINT
Label 2
PJOINT
Label 1 Label 3 Label 4
JOINTO label X JOINTO label X JOINTO label X JOINTO label X
Label X
Process 1 Process 2 Process 3 Process 4
Figure 3.9 Designating Parallel Execution Commands
(PFORK, JOINTO, PJOINT)
With the above commands, the labelled blocks (process 1, process 2, process 3, ...) designated
by the PFORK command are executed in parallel. After each parallel process has been executed,
execution is merged at the label designated by the JOINTO commands. A maximum of four par-
allel processes can be designated.
These commands make it possible to designate any combination of commands for parallel
execution, such as axis move commands and sequence commands, or axis move commands and
another axis move commands.
3