En (end), Program flow, Arguments: none – Yaskawa LEGEND-MC User Manual
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LEGEND-MC User’s Manual
EN (End)
[Program Flow]
DESCRIPTION:
The EN command is used to designate the end of a program or subroutine. If a subroutine was called by the
JS command, the EN command ends the subroutine and returns program flow to the point just after the JS
command.
The EN command is also used to end the automatic subroutines #MCTIME and #CMDERR.
ARGUMENTS: none
NOTE: Use the RE command to return from the interrupt handling subroutines #LIMSWI and
#POSERR. Use the RI command to return from the #ININT subroutine.
USAGE:
RELATED COMMANDS:
EXAMPLES:
NOTE: Instead of EN, use the RE command to end the error subroutine and limit subroutine. Use
the RI command to end the input interrupt) subroutine.
While Moving
Yes
Default Value
n/a
In a Program
Yes
Default Format
n/a
Command Line
No
Can be Interrogated
No
Used as an Operand
No
Distributed Control
No, Local
"RE"
Return from error subroutine
"RI"
Return from interrupt subroutine
#A
Program A
PR 500
Move X axis forward 500 counts
BGX
Move X axis forward 1000 counts
AMX
Pause the program until the X axis completes the motion
PR 1000
Set another Position Relative move
BGX
Begin motion
EN
End of Program