Return - YASKAWA XTRAWARE - V3.0 Manual

RETURN

Table explanation
Group Program Flow Control
Syntax RETURN
Op. Code 77
Modes Program
Description Returns from a subroutine to the command following the CALL
command that called the subroutine.
Example LABEL 1
CONTROL ON
DELAY 1000
JERK_TIME 700
MOVE_D 7200 1
CALL 2
SET_OUTPUT 2 OFF
CONTROL OFF
END
LABEL 2
SET_OUTPUT 2 ON
JERK_TIME 350
MOVE_D -7200 -1
RETURN
Example
Servo enabled, jerk time (see section 12.2.3, Profile Jerk
Explanation
Smoothing Time) is set to 700 ms, MOVE command executes,
subroutine LABEL 2 is called.
Within the subroutine: output 2 is set ON; jerk time is set to
350 ms; movement in the negative direction; return to the main
program; command that follows the CALL code line is executed:
output 2 is set OFF, servo disabled, end of program.
See Also LABEL, CALL
XtraWare User Manual
Command Reference
147