IAI America XSEL-KET - Manual (Page 324)

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Appendix
INTELLIGENT ACTUATOR
14. How to Use Subroutines
[Description]
When the same processing occurs multiple times in the same program, the applicable steps can be
combined into a group and the group of steps can be called and executed. This group of steps is called a
subroutine. Subroutines are used to make programs easier to read. Up to 99 subroutines can be used in
one program. Also, up to 15 subroutine calls can be nested.
[How to use]
Use the following commands to declare and call subroutines:
EXSR Call
subroutine
BGSR Declare start of subroutine (declare start of group of steps)
EDSR Declare end of subroutine (declare end of group of steps)
[Use example]
[Note]
Using a GOTO command to jump to TAG from within a subroutine is prohibited.
The same tasks are gathered in
one location.
Subroutine