Shibaura CA20-M10, Operating Manual, Page: 110 / 384

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5.4 Details on multitasking
Information important for efficiently using the multitask function is described below.
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5.4.1 Task status
With the multitasking, multiple task can be executed simultaneously by executing other task
during the task's open time.
The following four task states exist.
(1) Stopped state
State in which nothing is occurring. (No tasks have been started.)
(2) Execution state
State in which task is being executed.
(3) Ready state
State waiting for task processing priority.
(4) Wait state
Status in which task is waiting.
Waiting refers to positioning complete waiting, input waiting, timer waiting.
Commands with wait states ··· MOVP, MVB, MVE, IN, TIM, MVM, HOME
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5.4.2 Transition of states
(1) Starting the task
The main task (task 1) will start when start is input from the system, or when started with
the Teach Pendant.
The task stopped from the execution state will enter the ready state with the task start
command (TSTR).
(2) Ending the task
When the task being executed executes the END command, that task will end. The step
No., for the ended task will change to 1, and the task will stop. If the END command is
executed with the main task, all tasks will end when the commands for all tasks are
completed.
If the task being executed executes the TCAN command, the task will end when the task
command designated with that command is completed. The main task cannot be ended
with the TCAN command.
(3) Restarting the task
The main task will enter the execution state from the stopped step, and the other task will
enter the ready state.