Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 336)

App
B Sample Programs
A-15
B.2 Parallel Processing
A sample motion program for parallel execution accomplished by using a PFORK command is shown below.
The following diagram illustrates the operations executed by the above sample program.
ABS; "
Absolute mode
PFORK 001 002 003 004;
001:FMX T10000K; "
Sets the max. interpolation feed speed
PLN [A1] [B1]; "
Sets the plane for circular interpolation
MCC [A1] 0 [B1]0 U100000 V0 F10000K; "
Circular interpolation
JOINTO 005;
002:FMX T10000K; "
Sets the max. interpolation feed speed
MVS [C1] 131072 [D1] 20000 F10000K; "
Linear interpolation
JOINTO 005;
003:IOW IL8816>130000; "
Monitors C1 axis position
OB00000=1; "
When reached, OB00000 turns ON.
JOINTO 005;
004:IOW IL8896>12000; "
Monitors D1 axis position
OB00001=1; "
When reached, OB00001 turns ON.
JOINTO 005;
005:PJOINT;
END;
Starts parallel
processing
Program 1: Circular interpolation
Program 2: Linear interpolation
Program 3: C1 axis position monitor
Program 4: D1 axis position monitor
Circular interpolation
with axis A1 and B1
2-axis linear
interpolation with axis
C1 and D1
C1 axis position monitor D1 axis position monitor
001 002 003 004
005