Yaskawa MotionWorks+ Windows Software - Manual (Page 112)

Programming Tools MotionWorks+™
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Subroutine operation
Use the CALL SUBROUTINE block to incorporate subroutines in a program. When a
CALL SUBROUTINE block is executed, the program counter is set to the first block in
the selected subroutine. The main program that called the subroutine is not executing
while the subroutine is active. When the end block of the subroutine is executed, the
program counter is set to the block after the CALL SUBROUTINE block in the calling
program. The maximum subroutine depth is eight levels for each program; a total of 62
subroutines can exist in each program.
High Priority Programs
All high priority programs run code from their active block at precise intervals. The
default scan rate is 1ms.
Types of program logic to be inserted into a high priority program
1. Critical Inputs / Outputs
2. Precise Move Timing
Low Priority Programs
All low priority programs run code from the active block at precise intervals. The
default is 20ms.
Types of program logic that should be inserted into a low priority program
1. Operator Interface
2. Non-critical or push button I/O