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8
8-184 Chapter 8 Robot Language Lists
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RESTART
Restarts another task during a temporary stop
Format
RESTART Tn
<program name>
PGm
Values
n: Task number ......................1 to 16
● ●
m: Program number ...............1 to 100
Explanation
Restarts another task that has been temporarily stopped (SUSPEND status).
A task can be specified by the name or the number of a program in execution.
The program name must be enclosed in < > (angle brackets).
• If a task (program) not temporarily stopped is specified and executed, an error occurs.
SAMPLE
START <SUB_PGM>,T2
FLAG=1
*L0:
IF FLAG=1 AND DI2(0)=1 THEN
SUSPEND
T2
FLAG=2
WAIT DI2(0)=0
ENDIF
IF FLAG=2 AND DI2(0)=1 THEN
RESTART
T2
FLAG=1
WAIT
DI2(1)=0
ENDIF
MOVE P,P0
MOVE P,P1
GOTO *L0
HALTALL
Program name:SUB_PGM
’SUBTASK ROUTINE
*SUBTASK:
DO2(0)=1
DELAY 1000
DO2(0)=0
DELAY 1000
GOTO *SUBPGM
EXIT TASK
Related commands
CUT, EXIT TASK, START, SUSPEND
Reference
For details, refer to the "Multi-Task" item.
MEMO
Содержание SCARA YRCX Series
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