YASKAWA MP3000 Series Setup Manual page 144

Functions
Functions are executed when they are called from a parent, child, or grandchild drawing with
the FUNC instruction.
Functions can be freely called from any drawing. The same function can be called simultane-
ously from different types of drawings or different levels of drawings. You can also call functions
from other functions that you have created.
The use of functions provides the following merits:
• Easy user program modularization
• Easy user program creation and maintenance
You can use standard functions that are provided by the system, and you can define user func-
tions.
 Standard System Functions
The following functions for communications and other purposes are provided as standard func-
tions in the system. You cannot change the system functions.
Symbol
COUNTER Counter
FINFOUT First-in First-out
TRACE Trace
DTRC-RD Read Data Trace
MSG-SND Send Message
MSG-SNDE Send Message Extended
MSG-RCV Receive Message
MSG-RCVE Receive Message Extended
MOTREG-W Write Motion Register
MOTREG-R Read Motion Register
 User Functions
You can freely program the body of a user function and program the user function definitions.
The maximum number of user functions is 2,000 drawings.
4.1 User Program Types and Execution Timing
Function
4.1.1 Ladder Programs
4-11
4