1. ABB robot supports multitasking (maximum one motion task per robot body). 2. With multitasking, the robot must have the 623-1 mulTItasking option 3. How to create a new multitasking? 4. Control panel, configuration 5. Theme controller 6. Enter the task, create a new one This time should be set to normal, otherwise it can not be programmed, all programming and debugging, and then set back to semi staTIc to start automatically. 7. Restart 8. The program editor enters the t2 task. 9. How to transfer data between multiple tasks? The following takes the transfer of the bool amount flag1 between tasks as an example (ie, any task modifies the flag1 value, and another task flag1 value is also modified) 10. Both the foreground and the background must be built with data. The storage type must be a variable, the same type, and the same name, for example: Pers bool flag1 That is, both flags must have this flag1 and must be a variable. 11. In t2, the code is as follows 12. The foreground task code is as follows The above can realize real-time scanning of the di_0 signal by the background task. If the di_0 signal changes to 1, the flag1 is true. According to the logic, the foreground waits for flag1 to be true. After executing waitunTIl, set flag1 to false 13. How to run? The bottommost point in the lower right corner of the teach pendant is open, ensuring that both tasks are hooked, then run, you can test 14. Test no problem, enter the configuration interface, change t2 to semi staTIc, restart, this time t2 can not be selected, has been started automatically. Guangzhou Winson Information Technology Co., Ltd. , https://www.barcodescanner-2d.com
