RobotStudio event

Seting up multitasking in RPID programs

ittoop
ittoop ✭
in Robot Controller 
Dear sir,

I would like to the procedure to setup multitasking RAPID routines in
my IRC5 robot. For my application I require three RAPID tasks to run in parallel.
One task will take care of user inputs. second task will monitor some
interlocks. third one will monitor and display pressure of some chamber on
the flex-pendent.

Thanks and regards
Ittoop


Comments

  • robot_at_apex
    robot_at_apex ✭
    Hi Ittoop,
     

    to add a task ...

    You go to Configuartion-controller -task

    right click to popup option and select add new task.  Tasks have three modes. Normal, static and semi -static.

    Robot task can only be normal (stops on e-stop)

    Static and semistatic (the program runs in the backgorund). In semi-static mode on power up the PP starts at top.

    Best to put mechanical units on Normal Task. HIT: you should put debug all tasks in normal before you change them to the perament modes. Robot studio does not let you edit code in static and semistatic mode. 
  • ittoop
    ittoop ✭
     Hi robot_at_apex,
    Thanks for your nice replay. I will try as you have explained. And let you know.
    Regards
    Ittoop


  • Yanick
    Yanick ✭
    Hi,

    i search how a semi-static can check if the normal task rob_1 is in manuel, fault or running
    can you help for this feature or function in rapid...

    thank


  • j_proulx
    j_proulx ✭✭

    Hello,

    You can create a virtual I/O board and map System Outputs to the board. You can then monitor the system outputs in you semi-static task using the DOutput function.

     

    BR
  • Yanick
    Yanick ✭

    ok,, i already use that,

    but is wierd, no function to inspect state of other task,


    mapping io real or virtual and use process of controler for this type information,,,  is waste power,,   no?

    thank's

    Yanick2011-08-15 23:30:23
  • bilbooster
    bilbooster ✭

    Hy!

    I try to add new task, but this button is inactive. Can anybody help me?

    Thx


  • Yanick
    Yanick ✭
    do you have buying the option?

  • bilbooster
    bilbooster ✭
    No! I have a free 30days trial version. Maybe, that is the problem?  
  • graemepaulin
    graemepaulin mod
    Hi,
     

    I think what Yanick was asking was have you taken the Multitasking option when setting up your virtual controller?

     

    Regards

    Graeme
  • alexandrewillame
    alexandrewillame ✭
    Here is what worked for me. First of all, you need a controller with the Multitasking option enabled. To do this

    • Create a new RobotStudio station with Robot Controller -> Choose your robot
    • (Controller menu) -> right-click on the current station’s controller -> Shutdown
    • (Controller menu) -> System Builder-> select the controller -> Modify...Next->Next->Next->Next-> Add the following options
    623-MultitaskingValidate and restart the controller

    Now you have a controller configured correctly. To add a new task

    • (Controller menu) -> configuration editor -> controller -> Task -> New Task…
    Task name: name your task
    Task in foreground: select the first task
    TrustLevel: NoSafety

    It is important to have the type set to SEMISTATIC since this is what allows the task to run in the background. Now you can run multitasking. If you happen to have to modify the background task, it will be impossible to do this directly on the real controller since the task will run indefinitely on the background, even in case of emergency stop. To modify the task

    • Change the type of the secondary task to NORMAL
    • Do a restart (warmstart)
    • Modify the code
    • Put the task back to SEMISTATIC
    • Restart the controller
    Regards,

Categories

In this Discussion