Omron SCARA YRCX Series, Руководство по программированию, Страница: 74 / 506

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6-8 Chapter 6 Multi-tasking
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Multi-task program example
Tasks are executed in their scheduled order. An example of a multi-task program is shown below.
SAMPLE
’TASK1
START <SUB_TSK2>,T2
START <SUB_TSK3>,T3
*ST1:
DO(20) = 1
WAIT MO(20) = 1
MOVE P,P1,P2,Z=0
IF MO(21)=1 THEN *FIN
GOTO *ST1
*FIN:
CUT T2
HALTALL
Program name:SUB_TSK2
’TASK2
····················· Task 2 begins here.
*ST2:
IF DI(20) = 1
MO(20) = 1
DELAY 100
ELSE
MO(20) = 0
ENDIF
GOTO *ST2
EXIT TASK Ends here.
Program name:SUB_TSK3
’TASK3
····················· Task 3 begins here.
*ST3:
IF DI(21) = 0 THEN *ST3
IF DI(30) = 0 THEN *ST3
IF DI(33) = 0 THEN *ST3
MO(21) = 1
EXIT TASK ····················· Ends here.
5 Sharing the data
All global variables, static variables, input/output variables, point data, shift coordinate definition
data, hand definition data, and pallet definition data are shared between all tasks.
Execution of each task can be controlled while using the same variables and data shared with the
other tasks.
• In this case, however, use sufficient caution when rewriting the variable and data because
improper changes may cause trouble in the task processing. Take great care when sharing the
same variables and data.
MEMO