Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 200)

8.4 Program Control Commands
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8
Command Reference
(b) Parallel Execution Commands in Subprograms
The following restrictions apply to the parallel execution commands in subprograms:
• A maximum of two parallel processes are possible in a subprogram.
• An MSEE command can be coded only in the blocks designated by the first label.
Fig. 8.55 Parallel Execution Commands in Subprograms
• If the same label is used more than once in a program, an error will result (“Duplicate labels are defined”).
• If the number of PFORK branches and the number of labels are different, an error will result.
(2) Format
PFORK
MVS[A1]100.[C1]100. IOW MW10000==1
PFORK 0001 0002;
0001:MVS [A1]100.[C1]100.;
JOINTO 0003;
0002:IOW MW10000==1;
JOINTO 0003;
0003:PJOINT;
0001 0002
0003
IMPORTANT
PFORK Label1 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