Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
65
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Subroutine Call for a Program:
callProg
While performing a point job, another program can be called and executed as a subroutine.
Command Category
Command
Parameter
Job
Execute Flow Control
callProg
Program Number
Call the specified program number as a
subroutine.
z
The
callProg
command is deactivated at points where the (base) point type [CP Passing Point] is
set.
waitCondTime 200
ld #genIn1
timeUp
callProg 17
endWait
Program No. 17 can be called by the
callProg
command.
After the called program (No. 17 in this example) is complete, the next command line of the
callProg
command (
endWait
in this example) in the calling point job data is performed.
z
The called program (hereinafter referred to as
subprogram
in this manual) will be performed as a
[1 Cycle Playback] program even if [Continuous Playback] is selected as [Cycle Mode] settings in
the [Program Data Settings] menu. The tool unit does not return to the work home position after
running the last point of the called program, as shown below.
(SP1: Subprogram Point 1)
P1
P2
P3
P4
Program 5
P1
P2
(Last point)
P3
Program 12
P1
Calling point
P2
P3
P4
SP2 SP3
SP1
Program 12 was called from
P2 in Program 5.