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ABB Robot Multitask

Multitasking allows a robot to execute multiple programs simultaneously, enabling one program to control external equipment while the robot performs its tasks. Each program is stored in its own memory, with a maximum of ten program memories available, and the main robot program must always be loaded into task 0. All tasks can access system resources, but only the program in task 0 can be edited via the teach pendant.

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223 views1 page

ABB Robot Multitask

Multitasking allows a robot to execute multiple programs simultaneously, enabling one program to control external equipment while the robot performs its tasks. Each program is stored in its own memory, with a maximum of ten program memories available, and the main robot program must always be loaded into task 0. All tasks can access system resources, but only the program in task 0 can be edited via the teach pendant.

Uploaded by

ANDRE
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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KC 970630 H Brantmark

MULTITASKING

1 General Description
(Multitasking is described in the User's Guide/ System Parameters / Topic:
Controller/ Definining Multitasking and in the Reference Manual/ Basic
Characteristics Rapid/ Multitasking.)

Normally the robot memory only holds one program at a time, and only one
program is executing, when pressing Start button.

Multitasking, however, is a way to have more than one program executing at


the same time. This means that while the robot is moving and performing its
task, another program may supervise and control an external equipment. The
two programs are quite independent, and the program execution of the robot
program doesn't influence the execution of the other program
.
All such parallel programs are written and programmed using RAPID. Each
program is loaded into its own program memory, see figure 1 below. Up to ten
different program memories may be used.

Each program memory is given a number and a symbolic name, like MAIN,
SUPERVISION, GUN_CTR etc. Such a program memory is also called a
task, a name which will be used in the proceeding text. The normal robot
program must always be loaded into the task 0, and it is only this program,
which can include robot movements. Please observe the difference between a
program name, e.g. myprogram and a task name, e.g. MAIN. Any robot
program, e.g. myprogram, may be loaded into the task MAIN.

All tasks may hold a complete program, i.e. a program built up from several
modules, routines, data etc. W ith the exception of robot movements, all
RAPID instructions are permitted in all tasks.

All system resources or basic services are always accessible from each task.
This means for instance, that all tasks may address the IO-system, using the
same name as have been defined in the system parameters, and all tasks
may communicate with the operators log on the teach pendant using TPRead
and TPWrite instructions.

However, all MMC functions on the teachpendant are focusing on the


program in task 0. This means that only this program may be seen via the
teachpendant, and only this may be edited and worked upon. This also means
that when a program for another task is to be created, it must first be
programmed in the task 0, as described below. When it is finished, and it has
been thorougly tested, then it is stored on disk or ram, and then loaded into
the wanted task.

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