Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 202)

8.4 Program Control Commands
8-95
8
Command Reference
8.4.4 Selective Execution (SFORK, JOINTO, SJOINT)
(1) Overview
The Selective Execution commands (SFORK, JOINTO, SJOINT) execute labelled blocks following question
marks (?) when the designated conditional expressions are satisfied. After each parallel process has been exe-
cuted, execution is merged at the block with the label designated by the JOINTO commands. Up to 16 condi-
tional expressions including DEFAULT can be designated.
If not all the designated conditional expressions are satisfied, the labelled block following DEFAULT? is exe-
cuted.
DEFAULT can be designated only in the last conditional expression.
DEFAULT designation can be omitted in motion programs, but not in sequence programs.
• With MP2000 series Machine Controller, the system version number must be Ver.2.66 or later to use the SFORK com-
mand in sequence programs. There is no limitation in the system version number for using the SFORK command in
motion programs.
• The following versions of programming tool MPE720 are required to designate DEFAULT.
Fig. 8.57 Designating Selective Execution Commands (SFORK, JOINTO, SJOINT)
• The conditional expressions are examined in order from conditional expression 1. Even when more than one condi-
tional expression is satisfied, processing is executed from the label that first satisfies the conditional expression.
• When using an SFORK command in motion programs, 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.
Motion Programs Sequence Programs
Applicable Applicable
MP2000 Series
Machine Controller
Required Version MPE720 Required Version
All models Any version number
MPE720 Ver.5 MPE720 Ver.5.41 or later
MPE720 Ver.6
MPE720 Ver.6.06 or later
MPE720 Ver.6.06 Lite or later
INFO
Process 1
Label 1 Label 2 Label 3 Label 4 Label n
Process 2 Process 3 Process 4 Process 5
JOINTO Label X
Label X
SJOINT
JOINTO Label X JOINTO Label X JOINTO Label X JOINTO Label X
Conditional
expression
1
Conditional
expression
2
Conditional
expression
3
Conditional
expression
4
DEFAULT
INFO