Robotics User Manual

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Subroutine call of Program: callProg
The following explains how to call and execute other programs while running a point job.
Command Category Command Parameter Job
Call a subroutine of a program
specified by number.
callProg Program Number Execute Flow Control
 The command is invalid at the CP Passing Point or a point whose Base Type is CP Passing
Point.
waitCondTime 200
ld #genIn1
After executing the called
program, it starts to execute
the command in the next
line of the “callProg”
command in the calling
program.
timeUp
callProg 17
endWait
This is the command to call
out Program Number 17.
(“endWait” in this case)
 The called program (subprogram) is run in one cycle regardless of the setting. It does not
return to the work home position. Refer to the illustration 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.
Features II CARTESIAN Benchtop Robot
56