Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 207)

8 Command Reference
8.4.6 Sequence Subprogram Call (SSEE)
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8.4.6 Sequence Subprogram Call (SSEE)
(1) Overview
The Sequence Subprogram Call command (SSEE) calls a subprogram that has been stored in the sequence pro-
gram memory from the sequence program.
Nesting of the subprogram call command is restricted to a maximum of eight levels.
Fig. 8.60 Subprograms
A subprogram return command (RET) must be coded at the end of a subprogram.
Restrictions on Subprograms
The following restriction applies to sequence program coding within a subprogram.
• If a main program is called by the SSEE command, the program will not be executed.
(2) Format
(3) Programming Examples
A programming example of the SSEE command to call the subprogram SPS101 is shown below.
Motion Programs Sequence Programs
Not applicable Applicable
MW00000=1;
SSEE SPS002;
END;
SPM001
MW00000=2;
SSEE SPS003;
RET;
MW00000=3;
....
....
....
....
....
....
RET;
SPS002 (1st level nesting)
SPS003 (2nd level nesting)
IMPORTANT
SSEE SPS Subprogram number ;
Item Unit Usable Data
Subprogram number − A number between 001 and 256
SSEE SPS101;
Subprogram number designation
EXAMPLE