Omron SCARA YRCX Series, Programming Manual, Page: 72 / 506

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6-6 Chapter 6 Multi-tasking
3.6 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
→
NON EXISTENT status
■
Task at the head of the ready queue with higher priority
→
RUN status
Task self-delete (EXIT TASK)
Task 2 Task 3
Task 2
Task 3
RUN READY
NON EXISTENT
RUN
EXIT TASK
Task 4
READY
Task 4
READY
The task is placed in a NON EXISTENT status,
and is removed from a ready queue.
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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
→
RUN
■
Specified task
→
NON EXISTENT
Other-task delete (CUT)
Task 2 Task 3 Task 2
Task 3
RUN READY
Task 4
READY
Task 4
READY RUN
NON EXISTENT
CUT
The task is placed in a NON EXISTENT status,
and is removed from the ready queue.
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• If a SUSPEND command is executed for a WAIT-status task, the commands being executed by
that task are ended.
MEMO