Deleting Tasks - Omron SCARA YRCX Series Programming Manual

3.6
1
2
3
4
5
6
MEMO
6-6 Chapter 6 Multi-tasking

Deleting tasks

Task self-delete (EXIT TASK)
Tasks can delete themselves and set to the NON EXISTENT (no task registration) status by using the
EXIT TASK command.
When the EXIT TASK command is executed, the status transition takes place as follows.
Task that executed the EXIT TASK command
■
Task at the head of the ready queue with higher priority
■
Task self-delete (EXIT TASK)
EXIT TASK
Task 2 Task 3
RUN READY
The task is placed in a NON EXISTENT status,
and is removed from a ready queue.
Other-task delete (CUT)
Tasks can also delete the other tasks and put in the NON EXISTENT (no task registration) status by
using the CUT command.
When the CUT command is executed, the status transition takes place as follows.
Task that executed the CUT command
■
Specified task
■
Other-task delete (CUT)
CUT
Task 2 Task 3
RUN READY
The task is placed in a NON EXISTENT status,
and is removed from the ready queue.
• If a SUSPEND command is executed for a WAIT-status task, the commands being executed by
that task are ended.
→ NON EXISTENT status
→ RUN status
Task 4
READY
Task 2
NON EXISTENT
→ RUN
→ NON EXISTENT
Task 4 Task 2
READY RUN
Task 3 Task 4
RUN READY
33606-R7-00
Task 4
READY
Task 3
NON EXISTENT
33607-R7-00