Yaskawa MotionSuite Series Machine Controller Programming Uživatelský manuál stáhnout pdf (Strana 103)

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

3-18

3.1.6 Sub-program Call-out (MSEE) Command

! Outline

The Sub-program Call-out (MSEE) command can call out a sub-program memorized in

the motion program and execute it from the motion program.

! Detailed Explanation

The MSEE command method is shown as follows.

According to the above command, the sub-program with a number designated by the

MPS is executed.

• There are no restrictions on calling multiplex sub-programs from another sub-program.

• At the completion of the sub-program, the Subprogram End (RET) command must be

designated.

Important Points

• Sub-routine Restrictions

Note that there are some restrictions for the motion program description within the

sub-routine.

• Up to 2 of the PFORK commands can be run in parallel.

• When the PFORK command is used within the sub-routine, the axis movement

commands can only be described on one side.

• Up to 256 programs of the combined Main program MPM

###

and Sub-pro-

gram MPS

###

can be used. However, the same number cannot be used for both

the MPM and MPS.

• When a main program number is called out by the MSEE command, it is not

executed.

MSEE MPS ;

Number of the sub-program called out

MPM001

MOV [axis1]1000;

MSEE MPS002

;

....

MPS002

MOV [axis2]1000;

MOV [axis3]1000;

MSEE MPS003;

RET;

MPS003

MOV [axis2]1000;

MOV [axis3]1000;

RET;

Figure 3.10: Subprogram

1 2 ... 98 99 100 101 102 103 104 105 106 107 108 ... 186 187

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