ABB IRC5 with FlexPendant, Operating Manual

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6.1.3 Using multitasking programs
Overview
In a system with the option Multitasking installed, you may have one or several
programs running in parallel, for instance in a MultiMove cell with more than one
robot where each robot has its own task and program (multitasking).
For general information on program handling, see Handling of programs on page 150 .
Multitasking is described in Application manual - Controller software IRC5 .
Manually set up tasks
Tasks 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 section Technical reference manual - System parameters for
information about the parameters.
You need detailed information to set up tasks manually. Please read your plant or
cell documentation for details.
How tasks are run
Tasks may be defined as Normal, Static, or Semistatic. Static and Semistatic tasks
are automatically 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
stopped when you press the Stop button.
To be able to step, start and stop a Static or Semistatic task: set Task Panel
Settings to All tasks and activate the task using the Quickset menu. See Application
manual - Controller software IRC5 , section Multitasking .
The concepts of Static, Semistatic, and Normal are described in Technical reference
manual - System parameters , type Tasks .
Load, run, and stop multitasking programs
This section describes how to load, run, and stop multitasking programs.
Action
Make sure there is more than one task set up. This is done using system parameters,
see
Technical reference manual - System parameters .
1
Load programs to respective task using the Program Editor or the Production Window ,
this is described in section Loading an existing program on page 151 .
2
If one or more task should be disabled, go to the Quickset menu to do this. See section
Quickset menu, Tasks on page 88 .
Deselecting tasks can only be done in manual mode. When switching to automatic
mode, an alert box will appear warning that not all tasks are selected to run.
3
Start program execution by pressing the start button. All active tasks are started. 4
Stop program execution by pressing the stop button. All active tasks are stopped. 5
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6.1.3 Using multitasking programs