Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 116)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
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3.1.12 Selective Execution (SFORK, JOINTO, SJOINT) Command
! Outline
When the conditional expression is valid, a label block followed by a “?” mark is
executed. After each process is executed, it is merged into the label block designated by
the JOINTO command. Up to 4 conditional expressions can be designated.
! Detailed Explanation
The Selection Execution command (SFORK) method is shown as follows:
SFORK
Label 1:
Label 2:
Label 3:
Label 4:
Label X:
Conditional expression 1? Label 1, Conditional expression 2? Label 2,
Condition expression 3? Label 3, Conditional expression 4? Label 4;
Process 1
JOINTO Label X
Process 2
JOINTO Label X
Process 3
JOINTO Label X
Process 4
JOINTO Label X
•
•
PJOINT
Process 1
JOINTOLabelX
Process 1 Process 1 Process 1
JOINTOLabelX JOINTOLabelX JOINTOLabelX
SJOINT
Conditional
Expression 1
Conditional
Expression 2
Conditional
Expression 3
Conditional
Expression 4
Label 1 Label 2 Label 3 Label 4
Label X
Figure 3.14: Method of Designating Parallel Execution Commands
(SFORK, JOINTO, SJOINT)