FlexPendant Operators Manual 3HAC16590 ... - Technology

7 Running in production7.3. Using multitasking programs7.3. Using multitasking programsOverviewIn a multitasking system you may have one or several programs running parallel, for instancein a multimove cell with more than one robot where each robot has its own task and program.For general information on program handling, see Handling of programs on page 165.Multitasking is described in Application manual - Engineering tools.TIP!Need to know more about tasks and programs? These concepts are described in The structureof a RAPID application on page 134.Manually set up tasksTasks need to be set up in order to run as planned. Normally, all tasks are set up on delivery.Setting up tasks is done by defining system parameters of the type Controller. See sectionConfiguring system parameters on page 270 on how to configure system parameters, orTechnical reference manual - System parameters for information about the parameters.You need detailed information to set up tasks manually. Please read your plant or celldocumentation for details.How tasks are runTasks may be defined as Normal, Static, or Semistatic. Static and Semistatic tasks areautomatically started as soon as a program is loaded into that task.Normal tasks are started when you press the Start button of the FlexPendant, and stoppedwhen you press the Stop button.The concepts of Static, Semistatic and Normal are described in Technical reference manual -System parameters.Load, run, and stop multitasking programsThis section describes how to load, run, and stop multitasking programs.StepAction1. Make sure there is more than one task set up. This is done using systemparameters, see section Using multitasking programs on page 222.2. Load programs to respective task using the Program Editor, this is described insection Loading an existing program on page 166.3. If one or more task should be disabled, go to the Quickset menu to do this. Seesection Quickset menu, Run Mode on page 201.Deselecting tasks can only be done in manual mode. When switching to automaticmode, an alert box will appear warning that not all tasks are selected to run.4. Start program execution by pressing the start button. All active tasks are started.5. Stop program execution by pressing the stop button. All active tasks are stopped.222Continues on next page3HAC 16590-1 Revision: B