Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 265)

8 Command Reference
8.10.1 C-Language Task Control (CTSK)
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8.10 C-Language Control Commands
8.10.1 C-Language Task Control (CTSK)
(1) Overview
The C-Language Task Control command (CTSK) is used to control operations, including start and stop, of user
C-language tasks.
Note: The following versions of system software and programming tool MPE720 are required to use CTSK
commands.
The Machine Controller MP2000 series embedded C-language package is required to use user C-language tasks.
For details, refer to Machine Controller MP2000 Series Embedded C-Language Programming Package Development
Guide (manual no.: SIEP C880700 25).
(2) Format
Motion Programs Sequence Programs
Applicable Applicable
MP2000 Series Machine
Controller
Required Version MPE720 Required Version
All models Ver. 2.60 or later
MPE720 Ver.5 MPE720 Ver.5.38 or later
MPE720 Ver.6
MPE720 Ver.6.04 or later
MPE720 Ver.6.04Lite or later
User C language
task ޓ #1
User C language
taskޓ#2
Main program
Subprogram
Start, stop, etc
Start, stop, etc.
User C language tasks Motion program/Sequence program
CTSK
command
CTSK
command
INFO
CTSK EXECUTE TYPE, C_NAME, COMPLETE ERROR ERR_CODE;