Denso RC5 Specifications download pdf (Page 69)

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Chapter 2 Program Flow

2-7

The following two programs “MOTION1” and “TIMING” are examples of

synchronization control that use semaphores.

If the program “TIMING1” is run the program “MOTION1” starts concurrently.

The timing of the “MOTION1” is created by the “TIMING1” with a semaphore to

execute the MOVE command.

PROGRAM MOTION1

TAKEARM

SPEED 100

RUN TIMING

TAKESEM I1

MOVE P, P1

MOVE P, P2

END

PROGRAM TIMING1

I1 = CREATESEM (1)

TAKESEM I1

RUN MOTION1

I[1]=0

DO WHILE I[1]<10

DELAY 5000

GIVESEM I1

LOOP

DELETESEM I1

END

Fig. 2-5 Example of Synchronization Control Using Semaphore

2.3.2.2 I/O

The robot can communicate among tasks by using I/O.

The following two programs “MOTION2” and “TIMING2” are examples of

synchronization control that use I/O. The motion is the same as “Example of

synchronization control using semaphore” explained in “3.3.2.1 semaphore."

If communication among tasks is executed using I/O then only the first come

order Queuing method can be used.

If the program “TIMING2” is run, the timing of the “MOTION2” is created by the

“TIMING2” according to the status of IO [118] to execute the MOVE command.

This operation repeats itself until the “TIMING2” loop ends.

PROGRAM MOTION2

TALEARM

SPEED 100

WAIT IO[118]

MOVE P, P1

MOVE P, P2

END

PROGRAM TIMING2

RUN MOTION2

I[1]=0

DO WHILE I[1]<10

SET IO[118]

DELAY 500

RESET IO[118]

DELAY 5000

LOOP

END

Fig. 2-6 Example of Synchronization Control Using I/O

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