Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 353)

5.11 C-language Control Instructions
5.11.2 C-language Task Control (TSK-CTRL)
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The parameters are described in the following table.
∗ 1. Execute is not treated as a rising edge, but as a level. This allows cyclic execution in the high scan level and low
scan level tasks.
∗ 2. The errors that are detected by μITRON normally do not occur because of system management.
Parameter Name Description I/O
Execution flag (Execute) The TSK-CTRL instruction is executed when this command turns ON. IN
Type (Type)
1: Wake up
A task that is in WAIT state is woken up.
2: Reset
A task is ended, deleted, generated again, and started.
The task then executes itself and goes into WAIT state.
3: Suspend
The task is suspended and placed in SUSPEND state.
4: Resume
A task in SUSPEND state is changed to READY state.
IN
Task name (C_Name)
Specify the first register address of the registers in which the task name of the
user C-language task is stored.
IN
Completion flag (Complete) Turns ON when execution of the TSK-CTRL instruction is completed. OUT
Error flag (Error) Turns ON when an error occurs. (The error is given in Err_code.) OUT
Error code (Err_code)
Error Codes
0†00000000
No error
0†00000091
Type setting error
• The value of Type is outside of the valid range.
• Type was set to Wake up when the state was not WAIT or WAIT-SUS-
PEND.
• Type was set to Suspend when the state was not WAIT or READY.
0†00000094
The task specified by C_Name does not exist.
0†00000096
Register upper/lower limit exceeded for C_Name. *1
0†FFFFFFDD
Error detected by μITRON: Illegal ID number *2
0†FFFFFFCC
Error detected by μITRON: Task not registered *2
0†FFFFFFC1
Error detected by μITRON: Illegal object state
• The task is in DORMANT state.
• Resume was specified when the task was not in SUSPEND state.
0†FFFFFFBB
Error detected by μITRON: Context error
• The task could not be executed in a non-task context.
0†FFFFFFB7
Error detected by μITRON: Queuing overflow *2
OUT