Yaskawa MP900 Series Motion Programming Manual - Manual (Page 116)

Advanced Programming
3.1.11 Parallel Execution Commands (PFORK, JOINTO, PJOINT)
3 -26
Application Pattern 1
The following type of parallel execution is possible.
Label 1
Label 11
Process 1 Process 2 Process 3 Process 4
Label 50
Label 100
Label 2
Label 12 Label 13
Application Pattern 2
The following type of parallel execution is possible.
Label 1
Label 11
Process 2 Process 3 Process 4 Process 5
Label 111
Label 50
Label 2
Process 1
Label 100
Label 200
Label 112
Label 12
The following type of parallel execution is not possible.
Label 1
Process 1 Process 2 Process 3 Process 4
Label 11
Label 50
Label 2
Label 100
Label 12 Label 21 Label 22
3
A EXAMPLE "
IMPORTANT