Multi-Tasking - Loading modules to foreground
I have a pretty basic question related to multi-tasking and loading modules during execution. Specifically, is it possible to load new program modules into the foreground task by using Load command, which has been called from the background task?
Currently the new program module is loaded during program execution, but the module is loaded into the background task instead of the foreground (motion) task. The foreground task triggers a TRAP in the background, which handles loading/unloading of large toolpath files from HOME. I am hoping that it is somehow possible to specify which Task a module will be loaded into. It appears that by default the modules will be loaded into the same Task which contains the "Load" command.
The TRAP routine in the background looks like this:
! normal unload + load
Load\Dynamic, diskhome\File:= Next_Mod \CheckRef;
And the TASK Configuration:
I also looked into the "Automatic Loading of modules" Configuration, but the background task is still receiving the loaded module.
We are running RobotWare 6.07 on an IRC5. Thanks in advance for any advice someone may have!