YASKAWA YRC1000micro - 3.2. Basic Settings for Collaborative Operation; 3.2.1. Changing the External Force Limits

3 Creating Application Software
3.1 Rules for Creating Program Source Code
3-2
HW1484528
HW1484528
NOTE
The task “mpUsrRoot” has a high priority to start other appli-
cation tasks and initialize the entire application quickly. Due
to its high task priority, if a time-consuming process (100
microseconds or longer) is done in this task, the processing
time for the robot control becomes insufficient. Then the
system alarm may occur or the programming pendant or the
HOLD button may freeze. Thus, as the sample program
(refer to “Chap.17.3 Task Control Sample Program” in
“YRC1000micro OPTIONS INSTRUCTIONS Program-
mer’s Manual For New Language Environment MotoPlus
(HW1484526)”, make sure to complete the task “mpUsr-
Root” after starting up another application or creating a
semaphore.
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