YASKAWA MP2000 Technical Note page 54

TECHNICAL NOTE
MOTION APPLICATION ENGINEERING GROUP
Rules for using a WHILE – WEND Loop in Motion programs.
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Rules for using parallel processing "PFORK –JOINTO - PJOINT".
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11/23/2005
Example: An incremental move that repeats until the loop condition is
satisfied.
Code that takes more than one scan to execute may cause a watchdog
alarm. Avoid this alarm by including the EOX instruction in the loop.
Inside the parallel process only motion and global (M, O, I, S, C)
register handshaking (MByyyyyb = 1 , IOW MByyyyyb = =1, MWzzzzz
== 1234) instructions should be used. (Example: Home an axis with
absolute encoder [using MOV] and an axis with an incremental encoder
at the same time.)
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