Task Status And Transition; Starting Tasks - Omron SCARA YRCX Series Programming Manual

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Task status and transition

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3.1
MEMO
6-2 Chapter 6 Multi-tasking
There are 6 types of task status.
1. STOP status
A task is present but the task processing is stopped.
2. RUN status
A task is present and the task processing is being executed by the CPU.
3. READY status
A task is present and ready to be allocated to the CPU for task processing.
4. WAIT status
A task is present and waiting for an event to begin the task processing.
5. SUSPEND status
A task is present but suspended while waiting to begin the task processing.
6. NON EXISTENT status
No tasks exist in the program. (The START command is used to perform a call.)
Task state transition
Restart
SUSPEND
Suspend
Stop

Starting tasks

When the START command is executed, a specified program is registered in the task and placed in
RUN status. If the task number (1 to 16) is not specified by the START command, the task with the
smallest number among the tasks yet to be started is automatically specified. For details regarding
the START command, refer to "123 START" in Chapter 8.
• When the LOAD command is executed, a specified program is registered in the task and placed
in a STOP status. For details of the LOAD command, refer to "1. Register task" of "2.1 Program
operations" in Chapter 12.
• If another program is already registered in the task number specified by the START command or
the LOAD command, the "6.215: Task running" error will occur.
• When programs are registered in all task numbers and the START command or the LOAD command
is executed without specifying the task number, the "6.263: Too many Tasks" error will occur.
• When the HALTALL command is executed, all tasks termitate and the task enters the NON
EXISTENT (no task registration) status. When the main program is specified, the HALTALL
command registers the main program in the task 1 and stops at the beginning line. When the
main program is not specified, the HALTALL command registers the program that has been
executed last (current program) in the task 1 and stops at the beginning line.
For details regarding the main program, refer to "Setting the main program" of YRCX operator's
manual.
CPU assignment
Wait for CPU assignment
Cancel waiting
READY WAIT
Stop Start
STOP
Delete Call
NON EXISTENT
Wait condition
RUN
Stop Stop
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