IAI America XSEL-KE - Manual (Page 84)

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Part 3 Controller Data Structure
INTELLIGENT ACTUATOR
1.7 Subroutines
By taking out the parts of a program that are used UHSHDWHGO\DQGUHJLVWHULQJWKHPDV³VXEURXWLQHV´
the same processing can be performed with fewer steps. (A maximum of 15 nests are
accommodated.)
They are used only in each program.
Command Operand 1
EXSR Subroutine number (Integer between 1 and 99; variable is also supported)
Subroutine execution command
Command Operand 1
BGSR Subroutine number (Integer between 1 and 99)
Subroutine start declaration
Command Operand 1
EDSR 
Subroutine end declaration
Subroutines are called.
Subroutines
EXSR 1
EXSR 1
EXSR 1
BGSR 1
EDSR