Yaskawa MP900 Series Motion Programming Manual - Manual (Page 118)

Advanced Programming
3.1.12 Selective Execution Commands (SFORK, JOINTO, SJOINT)
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1. The conditional expressions are examined in order from conditional expression 1. Even when more than
one conditional expression is satisfied, processing is executed from the label that first satisfies the condi-
tional expression.
2. Be sure to code conditions that will be satisfied. If a condition is not satisfied, processing will remain in
wait status at the SFORK command block until the condition is satisfied.
J Programming Examples
0001: MOV [X]100.[Y]150.:
MVS [X]200.[Y]250.F1000:
SFORK MW00100==1 ? 0002,MW00100==2 ? 0003,MW00100==3 ? 0004;
0002: MVS [X]300.[Z]100.F3000:
JOINTO 0005
0003: MVS [X]300.[Z]100.F3000:
JOINTO 0005
0004: MVS [Z]300.[S]100.F3000:
JOINTO 0005
0005: SJOINT;
MOV [X]500.[Y]500.[Z]500.;
MVS[X]300.[Y]100. F3000;
JOINTO 0005 JOINTO 0005
MVS[Z]300.[S]100. F3000;
SJOINT
MOV[X]100.[Y]150.
MVS[X]200.[Y]250. F1000;
SFORK
MW00100==1
JOINTO 0005
MW00100==2 MW00100==3
MVS[X]300.[Y]100. F3000;
MOV[X]500.[Y]⋅⋅
Figure 3.13 Programming Example for Selection Execution Commands
(SFORK, JOINTO, SJOINT)
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