Owner manual

264
INTELLIGENT ACTUATOR
Appendix
Appendix
14. How to Use Subroutines
Description
If the same processing is performed multiple times in one program, the applicable operation is defined
in a separate group of steps so that these steps can be called every time the operation is required.
These steps are called a subroutine. Subroutines are used to shorten and simplify the program steps.
Up to 99 subroutines can be used in a single program, and a maximum of 15 subroutine calls can be
nested.
How to Use
Declare/call a subroutine using the following commands:
EXSR: Call a subroutine.
BGSR: Declare the start of a subroutine (declaration of the start of a group of steps).
EDSR: Declare the end of a subroutine (declaration of the end of a group of steps).
Example of Use
Note
Jumping from within a subroutine to a TAG outside the subroutine using a GOTO command is
prohibited.
The steps that perform the same
operation are defined in a single
location.
Subroutine