Yaskawa MP900 Series Motion Programming Manual - Manual (Page 115)

3.1 High-Level Control Commands
3 -25
J Programming Examples
Basic Pattern
A programming example for the basic pattern is shown in the following illustration.
0001: MOV[X]100.[Y]150.;
MVS [X]200. [Y]250. F1000;
PFORK 0002 0003 0004;
0002: MVS [X]300. [Z]100.
JOINTO 0005;
0003: MW12345=MW10000+MW10002;
IOW MB120001==1;
JOINTO 0005;
0004: MVS [Z]100. [S]100. F3000;
JOINTO 0005;
0005: PJOINT;
MOV [X]500. [Y]500. [Z]500.;
MOV[X]100.[Y]
MVS[X]200.[Y]
PFORK
MVS[X]300.[Y]
JOINTO 0005
MW12345=MW10
IOW MB120001=1
JOINTO 0005
MVS[Z]100.[S]
MOV[X]500.[Y]⋅⋅
JOINTO 0005
PJOINT
Figure 3.11 Programming Example for Parallel Execution Commands
(PFORK, JOINTO, PJOINT)
3
A
EXAMPLE
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