Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 201)

8 Command Reference
8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)
8-94
(3) Programming Examples
A programming example of parallel execution commands (PFORK, JOINTO, PJOINT) is shown below.
Fig. 8.56 Parallel Execution Command (PFORK, JOINTO, PJOINT) Programming Example
MOV [A1]100. [B1]150.;
MVS [A1]200. [B1]250. F1000;
PFORK 0001 0002 0003;
0001:MVS [A1]300. [B1]100.
JOINTO 0004;
0002:MW12345=MW10000+MW10002;
IOW MB120001==1;
JOINTO 0004;
0003:MVS [C1]100. [D1]100. F3000;
JOINTO 0004;
0004:PJOINT;
MOV [A1]500. [B1]500. [C1]500.;
•
•
EXAMPLE
MOV[A1]100.[B1]150.
MVS[A1]200.[B1]250.
PFORK
0001
0004
0002 0003
JOINTO 0004
MW12345=MW10000
+MW10002;
IOW MB120001==1
JOINTO 0004
MVS[C1]100.[D1]100.
MOV[A1]500.[B1]500.[C1]500.
JOINTO 0004
PJOINT
MVS[A1]300.[B1]100.