Yaskawa MotionSuite Series Machine Controller Programming Manual de usuario descargar pdf (Pagina 111)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods

3-26

3.1.11 Parallel Execution (PFORK, JOINTO, PJOINT) Command

! Outline

The Parallel Execution (PFORK) command executes the block of designated labels in

parallel. After each process is executed in parallel, they are merged into the label

designated by the JOINTTO command. Up to 4 parallel executions can be designated.

! Detailed Explanation

The Parallel Execution command method is shown as follows:

According to the above command, the blocks (Process1, 2, 3,....) of the PFORK

command-designated label are executed. After each process is executed in parallel, they

are merged into the label designated by the JOINTO command. Up to 4 parallel

executions can be designated.

According to the command, parallel execution of the axis movement and sequence

commands, or parallel execution among the axis movement commands can also be

designated freely.

PFORK

Lable1:

Label2:

Label3:

LabelX:

Label1 Label2 Label3....

Process1

JOINTO LabelX

Process2

JOINTO LabelX

Process3

JOINTO LabelX

•

PJOINT

Process1

JOINTOLabelX

Process2

JOINTOLabelX

Process3

JOINTOLabelX

Process4

JOINTOLabelX

PJOINT

Label1

Label2 Label3 Label4

LabelX

Figure 3.11: Parallel Execution Command (PFORK, JOINTO, PJOINT) Method

1 2 ... 106 107 108 109 110 111 112 113 114 115 116 ... 186 187

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Yaskawa MotionSuite Series Machine Controller Programming Manual de usuario Pagina 111

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