| 摘要 |
PURPOSE:To continue a work left unfinished after restoration to a target posi tion by activating the task of an autoresume processing whose precedence is the highest by a CPU by an interruption signal at the time of stopping the operation of a movable part in emergency. CONSTITUTION:In an emergency stopping state, an I/O detects that the DC voltage of a line is run out, and generates the interruption signal to the CPU. The CPU receives it, and activates the task of the autoresume processing whose precedence is the highest. Normally, the task of the autoresume processing is waiting in a waiting state for the open phenomenon of a safety circuit in a step 1, and when it is activated by the interruption of the emergency stop, a processing after a step 2 is executed. Therefore, a processing left unfinished can be continued as if nothing happens by each suspended task when it is resumed. |
