IAI America XSEL-KET - Manual (Page 103)

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INTELLIGENT ACTUATOR
Part 3 Controller Data Structure
1-7 Subroutines
By taking out the parts of a program that are used repeatedly and registering them as “subroutines,”
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