8-20 Functions ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
8.7 Multitasking
The control can process 3 cycles simultaneously (Task). The user can
enter a program in each of these 3 tasks. In each task, one instruction
(command) is processed within the NC cycle time.
When programming Tasks 1 through 3, take note of the following:
• The same subroutine may not be called up by more than one task at
the same time!
• Movements of a given axis may not be initiated by more than one task
at the same time!
• Prior to activation of Task 3, make sure that a program is present at its
start instruction!
Task 1 runs only in Automatic Mode. Program execution begins after a
`Start´ and ends with a `Stop´ command. After re-entering Automatic
Mode, the program counter resets to 0000 with each start command. If
the start command follows execution of a prior immediate stop, the
program continues from the point of interruption.
Normally, only Task 1 is in operation.
Example:
0000 AKN M2.02.0 1
0001 PSI 1 +000100.000 999
0002 AEA Q0.00.4 1
0003 WAI 00.250
0004 AEA Q0.00.4 0
0005 COU +00000 Q0.00.5 000100
0006 JMP 0000
Task 2 is activated only if it has been enabled in parameter AA00. That is
also where the start instruction that begins the program in Task 2 is
entered for each start following re-entry into Automatic Mode.
Example: Input in Parameter AA00
AA00 0200 0000 1
Input in the programming instruction
0200 AKN I0.00.7 1
0201 AEA Q0.00.4 0
0202 PSI 1 +000500.000 999
0203 APE M2.02 00111100
0204 WAI 00.500
0205 APE M2.02 22111111
0206 WAI 00.800
0207 APE M2.02 00000000
0208 WAI 02.000
0209 COU +00000 M2.03.1 000010
0210 JMP 0200
Task 1
Task 2
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