Shibaura CA20-M10, Operating Manual, Page: 111 / 384

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(4) Execution state and ready state
The task with the highest task processing priority of the task in the ready state will enter
the execution state in the following cases.

When the execution state task enters the wait state.
The task that is waiting will enter the ready state when a waiting occurs.

When the execution state task executes a branch command.
The task that executes the branch command will enter the ready state at the branch
designation step.

When the execution state of a task continues for one second or more.
When one second or more has passed, the step being executed will end, and the ready
state will be entered.

5.4.3 Transfer of data between tasks
The same counters and timers are used for all tasks, so a value can be set with one task and
referred to by another task, or the data or status can be transferred by using condition
judgment commands such as JMPC or CALC.

5.4.4 Task priority
If there are multiple tasks in the ready state and the execution state task enters the wait state
or a branch command is executed, the priority to move the ready state task to the execution
state is set.