Rexroth Indramat CLM1.4, Manual, Page: 105 / 274

7-8
Functions CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
7.5 Multitasking
The control can process 5 cycles simultaneously (Task). The user can
enter a program in each of these 5 tasks. In each task, one instruction
(command) is processed within the NC cycle time.
When programming Tasks 1 through 5, take note of the following:
•
The same subroutine may not be called up by more than one task at
the same time!
•
Movements of a given axis may not be initiated by more than one task
at the same time!
•
Prior to activation of Task 3, make sure that a program is present at
its start instruction!
Task 1 runs only in Automatic Mode. Program execution begins after a
‘ Start´ and ends with a `Stop´ command. After re-entering Automatic
Mode, the program counter resets to 0000 with each start command. If
the start command follows execution of a prior immediate stop, the
program continues from the point of interruption.
Normally, only Task 1 is in operation.
Example:
0000 AKN M2.00.0 1
0001 PSI 1 +000100.000 999
0002 AEA Q1.01.0 1
0003 WAI 00.250
0004 AEA Q1.01.0 0
0005 COU +00000 Q1.00.0 000100
0006 JMP 0000
Task 2 is activated only if it has been enabled in Parameter B011. That is
also where the start instruction that begins the program in Task 2 is
entered for each start following re-entry into Automatic Mode.
Example: Input in Parameter B011
B011 0200 0000 0
Input in the programming instruction
0200 AKN I1.00.0 1
0201 AEA Q1.00.0 0
0202 PSI 1 +000500.000 999
0203 APE Q1.01.0 22001112
0204 WAI 00.500
0205 APE Q1.01.0 22221112
0206 WAI 00.800
0207 APE Q1.01.0 22000002
0208 WAI 02.000
0209 COU +00000 Q1.00.7 000010
0210 JMP 0200
Task 1
Task 2