96 ● EN DMC-40x0 Command Reference
EN
FUNCTION: End
DESCRIPTION:
The EN command is used to designate the end of a program or subroutine. If a subroutine was
called by the JS command, the EN command ends the subroutine and returns program flow to
the point just after the JS command.
A return parameter can be specified to EN from a subroutine to return a value from the subroutine
to the calling stack.
The EN command is used to end the automatic subroutines #MCTIME #COMINT and
#CMDERR.
When the EN command is used to terminate the #COMINT communications interrupt subroutine,
there are 2 argurments. The first determines whether trippoints will be restored upon
completion of the subroutine, and the second determines whether the communication will be
re-enabled.
ARGUMENTS: EN m, n, r where
m = 0: Return from subroutine without restoring trippoint
m = 1: Return from subroutine and restore trippoint
n = 0 : Return from #COMINT without restoring CI interrupt trigger
n = 1 : Return from #COMINT and restore CI interrupt trigger
r = anyvalue Return a value from a subroutine, accessible to the calling stack in _JS
Note 1: The default value for the argument is 0.
Note 2: Use the RE command to return from the interrupt handling subroutines #LIMSWI and
#POSERR. Use the RI command to return from the #ININT subroutine.
USAGE: DEFAULTS:
While Moving Yes Default Value m=0
In a Program Yes Default Format
Command Line No
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
RE Return from error subroutine
RI Return from interrupt subroutine
EXAMPLES:
#A ;'Program A
PR 500 ;'Move A axis forward 500 counts
BGA ;'Begin motion
AMA ;'Pause the program until the A axis completes the motion
EN ;'End of Program
Note: Instead of EN, use the RE command to end the error subroutine and limit subroutine. Use the RI
command to end the input interrupt subroutine
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