Denso RC5 Specifications download pdf (Page 426)

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101

14-2

Notes

(1) When a task for which motion is being suspended is run again with a

SUSPEND instruction, execute RUN after the motion completely stops. If

RUN is executed and the robot is moved again before the motion stop

finishes, an error such as a command speed limit over error may occur.

(2) If a CYCLE option is used, note that cycle synchronization elapses even

during suspension after an instantaneous stop of the robot during

instruction execution followed by a restart of the robot.

(3) RUN command is not executed in the teaching check mode.

KILL (Statement)

Function

Forcibly terminates a task.

Format

KILL <Program name>

Explanation

This statement forcibly terminates the task (program) designated by <Program

name>. However, it cannot kill a program that contains the statement. If

attempted, an error will occur. To forcibly terminate a statement-containing

program, use a STOP instruction.

Related Terms

SUSPEND, STOP

Example

RUN samp1 'Concurrently runs samp1.

KILL samp1 'Ends samp1.

Notes

If a task in the process of obtaining an arm semaphore is forcibly terminated

and an arm semaphore is obtained by another task, an “Arm semaphore

obtaining failure” error may occur. In such a case, a timer should be inserted

before another task obtains the arm semaphore.

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Denso RC5 Specifications Page 426

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