Semi-static task doesn't start from the beginning if the controller is cold started in RW6.00.1105

binbin

Hello,

We encountered some issue that has different behavior between warm-start and cold-start.

The system is build on the RW 6.00.1105.

The system has 3 tasks, one motion task (normal) "T_ROB1", and two semi-static tasks. "T_SEMI1", "T_SEMI2". and one screen-maker application relates to the "T_SEMI2".

The semi-static task "T_SEMI1" is expected to be started from the beginning, to do some initialization works, each time the controller is re-started.

When we use the warm-start to restart the controller, the semi-static task could run from the beginning as expected, and working well.

BUT, when we power-off the controller and power on, this semi-static task doesn't start from the beginning, the PP remains in the line when the system is power off.

This issue can repeat every time we cold-start the controller.

Can anyone working on the RobotWare 6.00 help on this?

Thanks and best regards,

BinBin