TAKESEM
(Statement)
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Obtains a semaphore with a designated semaphore ID.
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TAKESEM <Semaphore ID>[,<Timeout time>]
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This statement obtains the semaphore designated in <Semaphore ID>.
If another task obtains a semaphore, the system waits for the semaphore to be released before the semaphore is obtained.
Waiting time can be designated in milliseconds (ms) using the option <Timeout time>. If the system cannot obtain a semaphore within the designated time, an error occurs.
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When the timeout time option is used, note that the waiting time elapses even in suspension after an instantaneous stop of the robot during execution of an instruction and a subsequent restart of the robot.
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DEFINT Li1, Li2, Li3 = 1
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Li1 = CREATESEM(Li3)
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'Creates a semaphore with the queuing system
'designated in Li3 and the semaphore
'ID obtained in Li1.
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Li2 = CREATESEM(Li3)
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'Creates a semaphore with the queuing system
'designated in Li3 and the semaphore
'ID obtained in Li2.
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TAKESEM Li1
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'Obtains the semaphore designated in Li1.
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TALESEM Li2, 100
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'Obtains the semaphore designated in Li1.
'However, a timeout occurs after 100 ms.
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RUN samp1
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GIVESEM Li1
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'Releases one task from the wait status
'which has the semaphore designated in Li1.
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FLUSHSEM Li2
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'Releases all tasks from the wait status
'which have the semaphore designated in Li2.
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DELETESEM Li1
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'Deletes the semaphore with the semaphore
'ID designated in Li1.
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DELETESEM Li2
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'Deletes the semaphore with the semaphore
'ID designated in Li2.
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