Yamaha SRCP manual 18 TON, Toff

			8-4 Robot Language Description
8-4-18 TON
Function:	Executes a specified task.
Format:	TON		<task number>, <program number>, <start type>
Example:	TON		1,2,0
	Newly executes program 2 as task 1.
Explanation:	This command starts multiple tasks and can be used to control the I/O
	signals in parallel with the axis movement and perform different process-
	ing for each axis.
	(1) Task number
		The task number is a number used to identify the four individual
		tasks from 0 to 3. Since task 0 is the main task, tasks numbers from
		1 to 3 can be specified.
	(2) Program number
		The program number is a number used to identify the 100 individual
		programs from 0 to 99.
	(3) Start type
		This specifies whether to start a new task or suspended task. Set to 0
		when executing a new task, and set to 1 when restarting a suspended
		task.
Others:	•	A task number which is being executed cannot be specified. (A task
		number which has been suspended can be specified.)
	•	The task terminates when the last step is detected. When a subtask
		terminates, it does not affect operation of other tasks. But, if task 0
		(main task) terminates, all other tasks in operation also terminate.
8-4-19 TOFF
Function:	Suspends a specified task.
Format:	TOFF		<task number>
Example:	TOFF		1
	Suspends the program being executed as task 1.
Explanation:	This command is used to suspend the execution of a particular task.
	(1) Task number
		The task number is a number used to identify the four individual
		tasks from 0 to 3. Since task 0 is the main task, tasks numbers from
		1 to 3 can be specified.
Others:	• This command cannot suspend its own task.

8

ROBOT LANGUAGE

8-15