Yaskawa MP900 Series Motion Programming Manual - Manual (Page 107)

3.1 High-Level Control Commands
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J Programming Examples
IOW MB001001&MB001002= =1;
MOV [axis1] 1000;
Speed
Positioning for axis 1
Time
MB001001
MB001002
Figure 3.7 Programming Example for I/O VARIABLE WAIT (IOW)
3.1.6 SUBROUTINE CALL (MSEE)
J
Overview
The MSEE command can call from the motion program a subroutine that has previously been
stored in motion program memory.
J Description
The MSEE command is designated as follows:
MSEE MPS−;
Call subroutine number
The MSEE command executes the subroutine with the number designated by MPS. There is no
restriction on the nesting levels for calling subroutines from other subroutines.
MPM001
MOV [axis1] 1000;
MSEE MPS002;
....
....
MPS002
MOV [axis2] 1000;
MOV [axis3] 1000;
MSEE MPS003;
RET;
MPS003
MOV [axis2] 1000;
MOV [axis3] 1000;
RET;
Figure 3.8 Subroutine
SUBROUTINE RETURN (RET) must be designated at the end of the subroutine.
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