Yaskawa MP900 Series Motion Programming Manual - Manual (Page 108)

Advanced Programming
3.1.7 SUBROUTINE RETURN (RET)
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Subroutine Restrictions
The following restrictions apply to the motion program coding within a subroutine. Write subroutines with
care.
S A maximum of two parallel executions with the PFORK command.
S When the PFORK command is used within a subroutine, axis move commands can be coded on only
one side.
S From 1 to 256 main programs (MPMjjj) and subroutines (MPSjjj) can be used. The same
number cannot be used for both a MPM and MPS.
S If the program number of a main program is called by the MSEE command, the program will not be
executed.
3.1.7 SUBROUTINE RETURN (RET)
J Overview
The SUBROUTINE RETURN (RET) command is designated at the end of a subroutine.
J Description
The RET command is designated as follows:
RET;
Subroutine ended.
With the RET command, program execution proceeds to the next block of the program (main
program or subroutine) after the SUBROUTINE CALL (MSEE) command that called the sub-
routine.
MPM001
MOV [axis1]1000;
....
MPS002
MOV [axis2]1000;
MOV [axis3]1000;
RET;
....
MSEE MPS002;
3
IMPORTANT