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5Functions set with parameters
5.4 Command parameter
This parameter sets the items pertaining to the program execution and robot language.
Table 5-6: List Program Execution Related Parameter
Parameter
Parameter
No. of multi-
TASKMAX
tasks
Slot table
(Set during mul-
titask opera-
SLT*
tion.)
* is 1 to 32
5-359 Command parameter
No. of arrays
No. of characters
name
Integer 1
Designate the number of programs to be executed simultaneously.
Operation conditions for each task slot is set during multitask opera-
tions. These are set when the program is reset.
Character
Designate the [program name],[operation mode],[starting condi-
tions],[order of priority].
string 4
Program name: Selected program name. Use uppercase letters when
using alphabet. Lowercase characters are not recognized.
Operation mode: Continuous/1 cycle = REP/CYC
REP:The program will be executed repeatedly.
CYC:The program ends after one cycle is completed. (The program
Starting conditions: Normal/Error/Always =START/Error/ALWAYS
START:This is executed by the START button on the operation panel or
ALWAYS:This is executed immediately after the controller's power is
Error:This is executed when an error is generated. This program does
Programs with ALWAYS or Error set as the starting condition cannot
execute the following movement instructions. An error will be gener-
ated if any of them is executed.
Mov,Mvs,Mvr,Mvr2,Mvr3,Mvc,Mva,
DRIVE,GetM,RelM,JRC
Order of priority: 1 to 31 (31 is the maximum)
This value shows the number of lines to be executed at a time. This has
the same meaning as the number of lines in the Priority instruction. For
instance, when two slots are used during execution, if SLT1 is set to 1
and SLT2 is set to 2, after one line of program in SLT1 is executed, two
lines of program in SLT2 is executed.
Therefore, more SLT2 programs will be executed and as a result, prior-
ity of SLT2 is higher.
Details explanation
does not end if it runs in an endless loop created by a GoTo
instruction.)
by the start signal.
turned on. This program does not affect the status such as
startup. To edit a program whose attribute is set to ALWAYS,
first cancel the ALWAYS attribute.
A program with the ALWAYS attribute is being executed con-
tinuously and therefore cannot be edited. Change ALWAYS to
START and turn on the controller's power again to stop the
constant execution.
not affect the status such as startup.
Factory setting
8
"",REP,START,1
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