Yaskawa MP900 Series Motion Programming Manual - Manual (Page 117)

3.1 High-Level Control Commands
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3.1.12 Selective Execution Commands (SFORK, JOINTO, SJOINT)
J Overview
The selective execution commands execute labelled blocks following question marks (?) when
the designated conditional expressions are satisfied.
After each parallel process has been executed, execution is merged at the block with the label
designated by the JOINTO commands.
Up to 16 conditional expressions can be designated.
J Description
An example of the method used to designate the SELECTIVE FORK (SFORK) command is
shown in the following illustration.
SFORK Conditional expression 1 ? Label 1, Conditional expression 2 ? Label 2,
Conditional expression 3 ? Label 3, Conditional expression 4 ? Label 4;
Label 1: Process 1
JOINTO Label X
Label 2: Process 2
JOINTO Label X
Label 3: Process 3
JOINTO Label X
Label 4: Process 4
JOINTO Label X
.
.
Label X: SJOINT
SJOINT
JOINTO label X JOINTO label X JOINTO label X
Label X
Process 2 Process 3 Process 4
Label 2 Label 3 Label 4
Conditional
expression 1
Label 1
Process 1
JOINTO label X
Conditional
expression 2
Conditional
expression 3
Conditional
expression 4
Figure 3.12 Method of Designating Selection Execution Commands
(SFORK, JOINTO, SJOINT)
The above commands execute the labelled blocks when the conditional expressions designated
by the SFORK command are satisfied. After each parallel process has been executed, execution
merges at the label designated in the JOINTO commands.
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