3 Configuration
3.2.1. Controller topic
3HAC021272-001 Revision: H
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3.2 System parameters
3.2.1. Controller topic
Task
These parameters belong to the type Task in the topic Controller:
Mechanical Unit Group
A mechanical unit group must contain at least one mechanical unit, robot or other mechanical
unit (i.e. both Robot and Mech Unit 1 cannot be left empty).
These parameters belong to the type Mechanical Unit Group in the topic Controller:
Parameter
Description
Task
The name of the task.
Note that the name of the task must be unique. This means that it cannot
have the same name as the mechanical unit, and no variable in the
RAPID program can have the same name.
Type
Controls the start/stop and system restart behavior:
•
NORMAL - The task program is manually started and stopped
(e.g. from the FlexPendant). The task stops at emergency stop.
•
STATIC - At a warm start the task program continues from where
it was. The task program cannot be stopped from the FlexPendant
or by emergency stop.
•
SEMISTATIC - The task program restarts from the beginning at
warm start. The task program cannot be stopped from the
FlexPendant or by emergency stop.
A task that controls a mechanical unit must be of the type NORMAL.
MotionTask
Indicates whether the task program can control a mechanical unit with
RAPID move instructions.
Use Mechanical
Unit Group
Defines which mechanical unit group is used for the task.
Use Mechanical Unit Group refers to the parameter Name for the type
Mechanical Unit Group.
A motion task (MotionTask set to Yes) controls the mechanical units in the
mechanical unit group. A non-motion task (MotionTask set to No) will still
be able to read values (e.g. the TCP position) for the active mechanical
units in the mechanical unit group.
Note that Use Mechanical Unit Group must be defined for all tasks, even
if the task does not control any mechanical unit.
Parameter
Description
Name
The name of the mechanical unit group.
Robot
Specifies the robot (with TCP), if there is any, in the mechanical unit group.
Robot refers to the parameter Name for the type Mechanical Unit in the
topic Motion.
Mech Unit 1
Specifies a mechanical unit without TCP, if there is any, in the mechanical
unit group.
Mech Unit 1 refers to the parameter Name for the type Mechanical Unit in
the topic Motion.
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