4MELFA-BASIC V
Detailed explanation of command words 4-285
[Explanation]
(1) Writes the Return command at the end of the jump destination processing called up by the GoSub com-
mand.
(2) An error occurs if the Return command is executed without being called by the GoSub command.
(3) Always use the Return command to return from a subroutine when called by the GoSub command. An
error occurs if the GoTo command is used to return, because the free memory available for control
structure (stack memory) decreases and eventually becomes insufficient.
(4) When there is a Return command in a normal subroutine with a return-to designation number, and when
there is a Return command in an interrupt-processing subroutine with no return-to destination number,
an error will occur.
(5) When returning from interruption processing to the next step by Return1, execute the statement to dis-
able the interrupt. When that is not so, if interruption conditions have been satisfied, because interrup-
tion processing will be executed again and it will return to the next step, the step may be skipped.
Please refer to Page 171, "Act (Act)" for the interrupt processing.
(6) When an interrupt occurs during execution of the circular or the arc interpolation (Mvc, Mvr, Mvr2, Mvr3),
and then control returns to the interrupted step by Return 0, the robot returns to the start point of the cir-
cle or the arc before executing the circular or the arc interpolation again.
(7) When an interrupt occurs during execution of the arch interpolation, and then control returns to the inter-
rupted step by Return 0, the robot executes the arch interpolation from the current position.
[Related instructions]
Act (Act), GoSub (Return)(Go Subroutine), On ... GoSub (ON Go Subroutine), On Com GoSub (ON Com-
munication Go Subroutine), Def Act (Define act)
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