Parallel Execution Using Pstart (Optional) - YASKAWA DX100 Instructions Manual

Data Transmission
Function

3.6.2 Parallel Execution Using PSTART (Optional)

3 DCI Function
3.6 DCI Parallel Execution
By using an independent control command (optional), DCI commands can
be executed in parallel with general commands.
For example, to execute the job "R1" for robot 1 is to be executed in
parallel with the job "S1" for station 1 during job loading, the following
procedure is taken:
Job "R1" : Job for robot 1
Job "S1" : Job for station 1
［JOB:R1］
NOP
MOVJ VJ=50.00
MOVJ VJ=50.00
PSTART JOB:S1 SUB1   
LOADJ JOB:ABC       
PWAIT                
CALL JOB:ABC         
END
When PSTART command  is executed, the job "S1" starts execution in
parallel with the job "R1".
The job "ABC" is loaded by the command  during execution of the job
"S1"; when loading is completed, the DX100 waits for the job "S1" to be
completed by the command .
When the execution of job "S1" is completed, the job "ABC" is executed by
the command .
3-12
［JOB:S1］
NOP
MOVJ VJ=50.00
MOVJ VJ=50.00

END



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