Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 215)

8 Command Reference
8.4.7 User Function Call From Motion Program (UFC)
8-108
5. Close the DWG Configuration Definition window, and edit the user function program in the ladder
program edit window.
6. From the Compile menu, select Compile F8.
7. In the Motion Editor window, create a program to call user function FUNC-T1.
The user function that is called from the motion program is created.
Execute the motion program to check the operation.