Denso RC5 Specifications download pdf (Page 428)

100

101

14-4

DEFEND (Statement)

Function

Defends a task.

Format

DEFEND {ON|OFF}

Explanation

A program task usually releases execution priority to another program task with

equal or higher priority at fixed intervals.

Use a DEFEND command when a program is processed without releasing

execution priority to another task. After DEFEND ON is executed the execution

priority is kept until DEFEND OFF is executed. However, if each time

designation command for DELAY, WAIT and SET IO is executed, the

execution priority is released to another program task.

Note (1): Set the section of a program that is to be defended with

DEFEND ON as short as possible. If the task is in an

infinite loop status after execution of DEFEND ON,

execution priority will never be transferred to other

program tasks.

Note (2): Even if a task is defended with DEFEND ON, the defense

status is automatically released in the following cases.

•

••

• When an END command (except for an END command

at the end of a called program) is executed

•

••

• When a KILL command is executed

•

••

• When the robot controller is initialized using the teach

pendant or I/O.

Related Terms

Example

DEFEND ON 'Defends own task.

SET IO[100] 'The following 3 instructions are always continuously executed

when

'a task is defended.

SET IO[102]

SET IO[104]

DEFEND OFF 'Releases the defense of own task.

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Denso RC5 Specifications Page 428

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