Pstart command running programs simultaneous

Hello All,

I'm trying to run two programs simultaneous.

One with a turn table S1 and one with the robot R1.

The goal is that the (welding) robot goes to it's cleaning station while the turn table gets in position to save time.

I'm using the Pstart command.

the turntable program is made in group S1

the robot program is made in group R1

However, if I make a test program were i put two Pstart commands for either job it does not work.

Nor does it work when I use the Pstart command for one program inside the other program.

Does this have something to do with the sub1, sub2, .... tasks?

Could someone give an example of how to put it in the controller.

(YRC1000)

Thank you all in advance for the help!

Thanks for the quick reply!

I can understand the part between NOP and END.

Could you clarify the above or is this just as an example and not useable data?

Thank you guys!

I will give it a go!

So I gave it a go and the controller doesn't give an error but the programs do not run.

It just goes to END.

I've uploaded a picture of the main job and will upload a picture of the 2 other programs right away.

Here are the other 2

I changed the single mode and it works perfect!

Thanks roboprof , 95devils and Motouser for your help!