Yaskawa LEGEND-MC - Manual (Page 115)

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LEGEND-MC User’s Manual
EN (End)
[Program Flow]
DESCRIPTION:
The EN command is used to designate the end of a program or subroutine. If a subroutine was called by the
JS command, the EN command ends the subroutine and returns program flow to the point just after the JS
command.
The EN command is also used to end the automatic subroutines #MCTIME and #CMDERR.
ARGUMENTS: none
NOTE: Use the RE command to return from the interrupt handling subroutines #LIMSWI and
#POSERR. Use the RI command to return from the #ININT subroutine.
USAGE:
RELATED COMMANDS:
EXAMPLES:
NOTE: Instead of EN, use the RE command to end the error subroutine and limit subroutine. Use
the RI command to end the input interrupt) subroutine.
While Moving Yes Default Value n/a
In a Program Yes Default Format n/a
Command Line No
Can be Interrogated No
Used as an Operand No Distributed Control No, Local
"RE" Return from error subroutine
"RI" Return from interrupt subroutine
#A Program A
PR 500 Move X axis forward 500 counts
BGX Move X axis forward 1000 counts
AMX Pause the program until the X axis completes the motion
PR 1000 Set another Position Relative move
BGX Begin motion
EN End of Program