Inovance H3U Series - Page 500

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7
7 Motion Control
MCALL: Motion control subprogram calling
MCALL: Motion control subprogram calling
◆
Overview
The MCALL instruction is used to call the specified motion control subprogram continuously for the
specied times.
MCALL
P_ L_
Motion control
subprogram calling
Applicable model:
H3U-PM
P
Subprogram
number
Serial number of the motion control subprogram to be
called
L
Number of
calls
Number of times the subprogram is called
◆
Operands
Parameter Bit Element Word Element Immediate operand
P M SM D DD DE R RR RE SD SDD SDE K KK H HH E
L M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Note: The elements in gray background are supported. The immediate operand type is not displayed. For
example, P10 indicates that P is the integer 10.
L can be omitted, indicating that the subprogram is called once by default. Currently, the number of calls
cannot be set, and the subprogram can be called only once.
◆
Functions and actions
An MC subprogram can execute MCALL to call other MC subprograms and G-code subprograms, wherein
the G-code subprograms can be called only as a whole.
The called motion control subprograms will be executed rst, and other subprograms will be called starting
from the current call point after MRET is returned. Up to six nested layers are supported.