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INTELLIGENT ACTUATOR
Appendix
14. How to Use Subroutines
Description
A subroutine is a group of steps that are called and executed several times within a program. Subroutines
are used to reduce the number of program steps and make the program easy to read. Up to 99
subroutines can be used in one program. Up to 15 subroutine calls can be nested.
How to Use
Declare/call subroutines using the following commands:
EXSR: Call a subroutine
BGSR: Declare the start of a subroutine (start of a group of steps)
EDSR: Declare the end of a subroutine (end of a group of steps)
Example of Use
Caution
Jumping from within a subroutine to a TAG position outside the subroutine using a GOTO command is
prohibited.
The same tasks are consolidated
into a single location.
Subroutine
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