Switching Task Display - Yamaha RCX141 User Manual

9. "AUTO" mode
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9.4

Switching task display

When a program executing multiple tasks is stopped, the program listing for each task
can be displayed.
[Procedure]
1) Press the key during program execution to stop the program.
STOP
2) Press the key to display the program listing.
ESC
The pointer indicates the next command line number to be executed in the current
task.
Fig. 4-9-9 Main task (T1) display
AUTO
5 MOVE P,P0
6 *L1:
7 MOVE P,P1
8 MOVE P,P2
9 GOTO *L1
RESET TASK
3) Press the (TASK) key to select a lower-order task program.
F 2
Each time the (TASK) key is pressed, lower-order task programs
F 2
(T2→T3→...T8) are displayed.
At this time, the pointer indicates the next command line number to be executed in
each task.
Fig. 4-9-10 Sub task (T2 to T8) display
AUTO
11 WAIT DI2(0)=1
12 DO2(1)=1
13 DELAY 1000
14 DO2(1)=0
15 WAIT DI2(0)=0
RESET TASK
[T1] 100% <TEST1
DIR VEL+ VEL-
[T2] 100% <TEST1
DIR VEL+ VEL-
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