Yaskawa MotionWorks+ Windows Software - Manual (Page 192)

Standardized Template Project MotionWorks+™
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B.3 Subroutines
The Subroutines folder contains the following:
A program can have up to 62 subroutines, and subroutines may be nested up to eight deep.
Jog + Subroutine
The jog + subroutine jogs the servo in the forward direction while the jog forward request
(Local_Input2) activated. When the user deactivates the jog forward request, the servo
decelerates to a stop and execution is returned to the main program. LocalOutput2 is acti-
vated while the servo is in motion jogging at the limit (discussed below), otherwise the
output flashes.