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6 MOTION SFC PROGRAMS
6.5.3 Subroutine call/start step
Name Symbol Function
Subroutine
call/start step
Program name
Calls/starts the Motion SFC program of the specified
program name.
[Operations]
(1) Calls/starts the Motion SFC program of the specified program name.
(2) Control varies with the type of the transition coupled next to the subroutine
call/start step.
(a) WAIT (Subroutine Call)
When the subroutine call step is executed, control transits to the specified
program as shown below, and when END of the called program is executed,
control returns to the call source program.
(b) Except WAIT (Subroutine Start)
When the subroutine start step is executed, control starts the specified
program and then shifts to the next as shown below. Since, the start source
and destination Motion SFC programs are executed in parallel. The started
program ends at END execution.
MAIN
SUB
END
Shift
SUB
WAIT
END
MAIN SUB
END
SUB
END
1)
2)
3)
5)
4)
1)
2)
2)
3)
WAIT Except WAIT
(Subroutine call)
(Subroutine start)
[Errors]
(1) When the specified Motion SFC program does not exist at a subroutine call/start,
the Motion SFC program error [16005] will occur and stops to execute the Motion
SFC program at the error detection.
(2) When the called/started Motion SFC program is already starting at a subroutine
call/start, the Motion SFC program error [16006] will occur and stops to execute
the Motion SFC program at the error detection.
(3) When the self program is started at a subroutine call/start, the Motion SFC
program error [16110] will occur and stops to execute the Motion SFC program at
the error detection.
(4) When the subroutine to be called/started at a subroutine call/start in the Motion
SFC program 2 running which was called/started from the Motion SFC program 1
is the Motion SFC program 1 (call source/start program), the Motion SFC program
error [16111] will occur and the call/start source Motion SFC program 2 running is
stopped at the point of error detection.