Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 208)

8.4 Program Control Commands
8-101
8
Command Reference
8.4.7 User Function Call From Motion Program (UFC)
(1) Overview
The User Function Call From Motion Program command (UFC) calls a user function (ladder program) from a
motion program.
When execution of the called user function is completed, the block after the UFC command block will be exe-
cuted.
For the user function called from the motion program, output bit YB000000 is used for completion judgement
(Complete Bit).
• When YB000000 = OFF at the completion of execution of user function:
• Execution of the user function is recognized as incomplete, and the user function will be called again during
the next scan.
• When YB000000 = ON at the completion of execution of user function:
• Execution of the user function is recognized as complete, and the block after the UFC command block will
be executed.
(2) Format
Motion Programs Sequence Programs
Applicable Not applicable
IMPORTANT
UFC Function name Input data, Input address, Output data;
Item Unit Usable Data
Function name − ASCII 8 bytes
Input data − Max: 16 data items (Minimum: 1 data item)
Input address − Max: 1 address
Output data * − Max:16 data items (Minimum: 1 data item)
* The input address can be omitted. [UFC Input data, Output data;] is used if there is no input
address. The minimum requirement is one input data item and one output data item.