Yaskawa LEGEND-MC - Manual (Page 207)

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LEGEND-MC User’s Manual
RE (Return from Error)
[Program Flow]
DESCRIPTION:
The RE command is used to end a position error handling subroutine or limit switch handling subroutine.
The error handling subroutine begins with the #POSERR label. The limit switch handling subroutine
begins with the #LIMSWI. An RE at the end of these routines causes a return to the main program. Care
should be taken to be sure the error or limit switch conditions no longer occur to avoid re-entering the
subroutines. If the program sequencer was waiting for a trippoint to occur, prior to the error interrupt, the
trippoint condition is preserved on the return to the program if RE1 is used. RE0 clears the trippoint. To
avoid returning to the main program on an interrupt, use the ZS command to zero the subroutine stack. No
RE is needed after ZS. After using ZS, use a JP command to return to a key location in the main program.
ARGUMENTS: RE n where
0 clears the interrupted trippoint
1 restores state of trippoint
USAGE:
RELATED COMMANDS:
EXAMPLES:
NOTE: An application program must be executing for the #LIMSWI and #POSERR subroutines
to function.
While Moving No Minimum n Value 0
In a Program Yes Maximum n Value 1
Command Line No Default Value 0
Can be Interrogated No Default Format ---
Used as an Operand No Distributed Control No, Local
#POSERR Excessive Position Error Special Label
#LIMSWI Limit Switch Special Label
#A;JP #A;EN Label for main program
#POSERR Begin Error Handling Subroutine
MG "ERROR" Print message
SB1 Set output bit 1
RE Return to main program and clear trippoint