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8.11 Multitasking Control Statement
Multitasking control statements include a task control statement and a
semaphore control statement.
8.11.1 Task Control Statement
A task control statement controls tasks except for those which include a task
control statement.
Task Control Commands
Type of motion Command
Task creation and running RUN
Task abort SUSPEND
Task deletion KILL
Task protection DEFEND
8.11.2 Semaphore Control Statement
A semaphore control statement executes semaphore-related control.
Semaphore Control Commands
Type of motion Command
Semaphore creation CREATESEM
Semaphore deletion DELETESEM
Semaphore release GIVESEM
Semaphore obtaining TAKESEM
Semaphore waiting task release FLUSHSEM
8.11.3 Special Semaphore Control Statement
Special Semaphore Control Statements
Type of motion Command
Arm semaphore release GIVEARM
Arm semaphore obtaining TAKEARM
Vision semaphore release GIVEVIS
Vision semaphore obtaining TAKEVIS
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