FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.2.1. The structure of a RAPID application6.2 Programming concept6.2.1. The structure of a RAPID applicationIllustration of a RAPID applicationThe structure and contents of the main computer RAM memory during operation is describedin section The structure of the main computer RAM memory contents on page 249en0300000576PartsPartTaskTask propertyparameterProgramFunctionEach task usually contains a RAPID program and system modules aimedat performing a certain function, e.g. spot welding or manipulatormovements.A RAPID application may contain one task. If you have the Multitaskingoption installed, then there can be more than one task.Read more about Multitasking in Application manual - Engineering tools.The task property parameters set certain properties for all task contents.Any program stored in a certain task, assumes the properties set for thattask.The task property parameters are specified in RAPID reference manual.Each program usually contains program modules with RAPID code fordifferent purposes.Any program must have an entry routine defined to be executable.134Continues on next page3HAC 16590-1 Revision: B