Start individual task in Multitask system

csmith

Hi, 

I have two tasks in my RAPID code, one normal motion task and another semi-static task.
The semi-static task auto-starts whenever the controller is booted and I want to run the second task using a Digital Input which is tied to a System Input that runs RAPID. 

When I flip the Digital Input, I am getting an error message saying 'Start rejected', and one of the possible causes listed is that there is an already executing task.

How can I start my motion task when there is an already executing semi-static task?
I wasn't able to specify a task in the System Input settings. 
Using Robotware 6.08

Thank you

graemepaulin

You can have the task and code running but the main program loop is held waiting for the digital input.

lemster68

If your normal task is NOT running, the issue is likely to be something else, and not related to the background task.  Don't worry about that task.  Look for: are the motors on?  Is there a stop input on at the same time that the start is issued?

csmith

Thank you, further debugging showed that the motion task was indeed running. 
It's working as expected now. 

Thanks!