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Use the
command to eliminate altogether a task's association with motion. This would be
TSKAX0
appropriate for a task that is not involved in motion control, but may control I/O or start other tasks.
Example:
DEF main
; Begin definition of program called "main"
1%TSKAX1
; Associate Task1 with motion
2%TSKAX0
; Make Task2 independent of motion
1%move1
; Execute stored program "move1" in Task1
2%inout
; Execute stored program "inout" in Task2
END
TSKTRN
Task Turns Before Swapping
Type
Multi-Tasking
Syntax
i
%TSKTRNi
1
2
Units
i
= task number
1
i
= number of turns before task swap
2
Range
i
= 0-10
1
i
= 0-10,000
2
Default
i
= 0
1
i
= 1
2
Response
TSKTRN:
*TSKTRN1
See Also
%, LOCK, TTASK, [ TASK ], TSWAP, [ SWAP ], TSKAX
Use the
command to set the relative amount of processing time a task will get. Under default
TSKTRN
multi-tasking operation, all active tasks have an equal share of processing time; that is, each task executes
one "turn" and then "swaps" control to the next active task. (A "turn" is the execution of a command, or a
portion of a complex command such as those for math and trig operators.)
For example, if Task2 issued a
execute 6 commands (or portions of long commands) before relinquishing control to another task.
The
value for a task may be changed at any time, allowing a task to increase its weight for an
TSKTRN
isolated section of program commands.
TSROFF
Transfer Resolver Offset Angle
Type
Transfer
Syntax
<a_><!>TSROFF
Units
angle offset, in degrees
Range
-180.0 to +180.0
Default
n/a
Response
TSROFF:
*TSROFF-90.0
See Also
DMODE, SRSET
Use the
command to ascertain the actual resolver offset angle.
TSROFF
When a non-zero value is specified for
and the drive is in
DMODE11
resolver angle.
command, while the other tasks stayed at
TSKTRN6
, it becomes the new offset angle. When no value is specified,
SRSET
(feedback alignment mode), then a routine is executed to automatically set the
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Product
GT6K
GV6K
, Task2 would
TSKTRN1
Product
GT6K
GV6K
(applicable only to
servo axes)
sets the resolver offset angle.
SRSET
Command Descriptions
Rev
6.0
6.0
Rev
n/a
6.0
319
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