Shibaura CA20-M10, Руководство по эксплуатации

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(4) Setting the positioning output
The system output positioning completed output (pin No. 13) will turn ON when the
positioning of all axes is completed.
The output that turns ON when a specific axis completes positioning can be designated
with a port and bit described in section 11.2.18 Setting of positioning complete output.
(5) Setting the Return to Origin complete output
The system output Return to Origin completed output (pin No. 14) will turn ON when all
axes have returned to the origin.
The output that turns ON when a specific axis completes the return to origin can be
designated with the port and bit described in section 11.2.19 Setting of Return to Origin
complete output.
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5.3.3 Starting and stopping tasks
One of the four tasks is the main task.
(1) Starting the tasks
If start is applied by the Teach Pendant or system input, task 1 (main task) will start.
The other tasks will start with the TSRT command.
(2) Stopping the task
If stop is applied by the Teach Pendant or system input, all task will stop when the
command being executed at that point is completed. The step No. will remain that at the
stopped time, and will be used for executed when start is applied again.
The other task can be stopped with the TSTO command. To stop the task itself, use the
STOP command.
(3) Restarting the task
The task will start from the step where the main task was stopped.
(4) Ending a task
If stop is applied by the system output, all task will stop when the command being
executed at that point is completed. The step No. will remain that at the stopped time, but
if reset is applied from the system No., step No. will change to 1 and be the same as the
end state.
The task will end (enter the stop state, and step No. will return to 1) when the END
command is executed. However, if the main task executes the END command, all task
will end when the command being executed at that time. Thus, all tasks will be canceled.
To avoid this, use a counter to apply a timing between the tasks (refer to section 5.3.5),
and create a program so that the main task does not execute the END command until the
other tasks end.
The tasks other than the main task can be ended with the TCAN command.