YASKAWA YRC1000 Instructions Manual page 25

HW1483372
6 System with Independent Control
• EI and DI instructions are valid only in each individual task.
For example, an EI instruction in subtask 1 does not affect
NOTE
any interruption tables in the master task or in subtask 2.
• The following instructions are used for independent control.
PSTART
PWAIT
TSYNC
During execution of an independent control instruction
above, the interrupt job function can not be used. Program a
DI and an EI instruction before and after the independent
control instruction to disable interruptions.
<Job Example>
When a PSEND instruction is used
NOP

DI
PSTART JOB:R1 SUB1
EI

END
6-2
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