Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 206)

8.4 Program Control Commands
8-99
8
Command Reference
8.4.5 Motion Subprogram Call (MSEE)
(1) Overview
The Motion Subprogram Call command (MSEE) can call a subprogram that has been stored in the motion pro-
gram memory from the motion program.
Nesting of the subprogram call command (MSEE) is restricted to a maximum of eight levels.
Fig. 8.59 Subprograms
A subprogram return command (RET) must be coded at the end of the subprogram.
Restrictions on Subprograms
The following restrictions apply to motion program coding within a subprogram.
• A maximum of two parallel executions with a PFORK command
• If the program number of a main program is called by an MSEE command, the program will not be exe-
cuted.
(2) Format
(3) Programming Examples
A programming example of the MSEE command to call the motion subprogram MPS101 is shown below.
Motion Programs Sequence Programs
Applicable Not applicable
MPM001
MOV [A1]1000;
....
....
MSEE MPS002;
MPS002 (1st level nesting)
MOV [B1]1000;
MOV [C1]1000;
MSEE MPS003;
RET;
MPS003 (2nd level nesting)
MOV [B1]1000;
MOV [C1]1000;
RET;
IMPORTANT
MSEE MPS Subprogram number;
Item Unit Usable Data
Subprogram number − A number between 001 and 256
MSEE MPS101;
Subprogram number designation
EXAMPLE