Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 103)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
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3.1.6 Sub-program Call-out (MSEE) Command
! Outline
The Sub-program Call-out (MSEE) command can call out a sub-program memorized in
the motion program and execute it from the motion program.
! Detailed Explanation
The MSEE command method is shown as follows.
According to the above command, the sub-program with a number designated by the
MPS is executed.
• There are no restrictions on calling multiplex sub-programs from another sub-program.
• At the completion of the sub-program, the Subprogram End (RET) command must be
designated.
Important Points
• Sub-routine Restrictions
Note that there are some restrictions for the motion program description within the
sub-routine.
• Up to 2 of the PFORK commands can be run in parallel.
• When the PFORK command is used within the sub-routine, the axis movement
commands can only be described on one side.
• Up to 256 programs of the combined Main program MPM
### and Sub-pro-
gram MPS
### can be used. However, the same number cannot be used for both
the MPM and MPS.
• When a main program number is called out by the MSEE command, it is not
executed.
MSEE MPS ;
Number of the sub-program called out
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 3.10: Subprogram