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Appendix
14. How to Use Subroutines
Description
If the same processing is performed multiple times in one program, the applicable steps are grouped and
called together. This group of steps is called a subroutine. Subroutines are used to shorten program steps
and make programs easier to read. Up to 99 subroutines can be used in one program. Subroutine calls
can be nested by up to 15 times.
How to Use
Use the following commands to declare/call subroutines:
EXSR Call subroutine
BGSR Declare start of subroutine (declare start of group of steps)
EDSR Declare end of subroutine (declare end of group of steps)
Example of Use
Note
Jumping out of a subroutine to a TAG outside the subroutine using a GOTO command is prohibited.
Consolidate the same tasks into
one location.
Subroutine
- J/K/KE Type 1
- X-SEL Controller 1
- Please Read Before Use 3
- [Important] 3
- Safety Guide 4
- Alert Indication 8
- Caution in Handling 11
- CE Marking 12
- Table of Contents 13
- Introduction 16
- Part 1 Installation 17
- Part 1 Installation 18
- Chapter 2 Warranty 18
- 1. Installation Environment 20
- 3. Power Source 21
- 1. Front View of Controller 24
- (General-purpose Type) 26
- (Compact Type) 26
- Battery Capacity: 1000 mAh 27
- (10) Axis-driver status LEDs 28
- Chapter 5 Specifications 36
- 1. Controller Specifications 36
- , Type KE (CE-compliant) 37
- [Input circuit] 38
- Internal circuit 38
- ON duration 38
- OFF duration 38
- [Output circuit] 39
- [W]} y Power factor [0.6] 42
- 4. External Dimensions 44
- AC power 47
- Class D grounding 47
- (protective grounding) 47
- 2. I/O Connection Diagram 49
- (2) PNP specification 50
- 3. I/O Flat Cable 51
- 1. Preparation 52
- 2. Procedure 52
- Chapter 8 Maintenance 57
- Part 2 Operation 66
- Start signal 68
- Emergency-stop 68
- Write to flash 72
- Write to flash memory 73
- (Decimal point) 81
- 2. Position Part 88
- CP Set offset 140 92
- (Count) CP Set zigzag 216 95
- 1. Alphabetical Order 96
- Part 4 Commands 100
- 1. Commands 101
- Optional Optional MOD 105
- Variable 105
- Data ZR 105
- Optional Optional SQR 108
- Optional Optional AND 109
- Optional Optional OR 110
- Optional Optional EOR 111
- Optional Optional CPXX 112
- Optional Optional TIMC 114
- Prohibited CP 114
- Optional Optional GTTM 115
- (Output 116
- Optional Optional FMIO 124
- Currently executed step 133
- Currently paused step 134
- Optional Optional PVEL Speed 142
- Position 142
- Optional Optional PSIZ 146
- X 100 (%) 154
- Command, declaration 155
- Optional Optional BASE 157
- Optional Optional GRP 158
- Optional Optional QRTN 166
- Quick return 166
- Near detection approx. 50 167
- 1HDUGHWHFWLRQDSSUR[ 168
- Optional Optional SVXX 170
- Prohibited PE 170
- Optional Optional HOME 171
- Optional Optional MOVP 172
- Optional Optional MOVL 173
- Optional Optional MVPI 174
- Optional Optional MVLI 175
- Start position 176
- Position origin 176
- End position 176
- Optional Optional STOP 178
- Optional Optional PUSH 180
- Center angle 187
- Center position 188
- Optional Optional PBND 189
- Distance CP 189
- Optional Optional IFXX 193
- Data CP 193
- Optional Optional DWXX 196
- Prohibited Prohibited WHXX 199
- Optional Optional SYST 204
- Optional Optional TMRD 211
- Optional Optional SCHA 213
- Character 213
- Optional Optional SPUT 217
- Optional Optional STR 218
- Data CC 218
- Optional Optional STRH 219
- Optional Optional SLEN 222
- Optional Optional BGPA 223
- Palletizing 223
- Optional Optional PAPN 224
- Optional Optional PAST 226
- (Position 226
- Optional Optional PAPS 227
- Optional Optional PSLI 231
- (Count) CP 231
- Optional Optional PCHZ 232
- Optional Optional ACHZ 235
- 2. PATH/PSPL Commands 252
- 3. CIR/ARC Commands 252
- 1. How to Use 253
- 2. Palletizing Setting 253
- PX-axis direction pitch 256
- Teach position data No. 100 256
- PY-axis direction pitch 256
- Odd-numbered 257
- (YHQQXPEHUHG 257
- 3. Palletizing Calculation 259
- 4. Palletizing Movement 260
- 5. Program Examples 262
- 15 267
- 1. Basic Frame 270
- 2. Ladder Statement Field 271
- 3. Points to Note 271
- 4. Program Example 272
- Operation Position 274
- I/O Assignments 274
- Operation Flow Chart 274
- Increment axis-1 offset by 280
- Increment axis-2 offset by 280
- Part 5 Multi-Tasking 282
- 2. Multi-Tasking 283
- Emergency stop 285
- UHOHDVHG" 285
- 5. Program Switching 286
- 1. Equipment 287
- 2. Operation 287
- 4. Hardware 289
- Z-axis down Parts feeder 290
- CR1 CR2 290
- Z-axis air cylinder 291
- Screw tightening 291
- Appendix 293
- RCS2CR (slider type) 294
- RCS (slider type) 295
- RCS (rod type) 295
- ~ Programming Method 298
- 1. Position Table 298
- 2. Program Format 299
- Flowchart 300
- Repeat the same operations 301
- Operations to be repeated 301
- Operations to be ignored 301
- 6. Path Operation 303
- 8. Circle, Arc Operation 305
- 11. Change of Moving Speed 308
- 14. How to Use Subroutines 311
- 15. Pausing of Operation 312
- Flow chart 315
- )ORZFKDUW 316
- 21. Conditional Jump 318
- 23. How to Use Offset 320
- Start input 322
- Initial setting 322
- Reference point 322
- 26. Jogging 323
- 27. Program Switching 324
- 28. Aborting of Program 325
- 1 m (1000 mm) 329
- Controller end 329
- Connector not 329
- RD+ 11 RD + SD + 331
- RD- 12 RD - SD 331
- SD+ 15 SD + RD + 331
- SD- 14 SD - RD 331
- RD + 11 RD + SRD + 332
- RD - 12 RD - SRD 332
- SD + 15 SD + 332
- SD - 14 SD 332
- 1. Synchro Axes 336
- List of Parameters 342
- 1. I/O Parameters 343
- I/O Parameters 344
- PC: PC software 349
- TP: Teaching pendant 349
- 26 Acceleration/deceleration 355
- 3& 3&VRIWZDUH 356
- 3. Axis-Specific Parameters 357
- Axis-Specific Parameters 358
- 1 Reference 359
- 4. Driver Card Parameters 362
- Driver Card Parameters 363
- 26500 Proportional gain 364
- (Kelvin = 367
- Temperature 367
- 6. I/O-Slot Card Parameters 368
- 7. Other Parameters 369
- Other Parameters 370
- Change prohibited 372
- 8. Manual Operation Types 374
- INTELLIGENT ACTUATOR 375
- 10. Servo Gain Adjustment 381
- Error Level Control 384
- Change History 422
- 11.11.000 424
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