1. The ABB robot supports multi-tasking (each robot has at most one motion task).
2. To use multitasking, the robot must have 623-1 mulTItasking option
3. How to create a new multi-task?
4. Control panel, configuration
5. Theme controller
6. Enter task and create a new one
At this time, it should be set to normal, otherwise it can not be programmed, all programming is debugged, and then set back to semi staTIc to start automatically.
7. Restart
8. The program editor enters t2 task.
9. How to transfer data between multiple tasks? The following takes the transmission of the bool amount flag1 between tasks as an example (that is, any task changes the value of flag1, and the value of flag1 of another task is also modified)
10. Both the foreground and the background must build data. The storage type must be variable, with the same type and the same name, for example:
Pers bool flag1
That is, the flag1 must be present in both tasks and must be variable.
11. In t2, the code is as follows
12. The foreground task code is as follows
The above can realize the background task to scan the di_0 signal in real time. If the di_0 signal becomes 1, flag1 is true. According to logic, the front desk has been waiting for flag1 to be true. After executing waitunTIl, set flag1 to false
13. How to run?
The bottom right corner of the Teach Pendant opens at the bottom, make sure that both tasks are checked, and then run, you can test it
14. Test no problem, enter the configuration interface, change t2 to semi staTIc, restart, this time t2 can not be selected, has been automatically run after booting.
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