Multitask Function; What Is Multitasking - Mitsubishi Electric CR750-Q Instruction Manual

4.3 Multitask function

4.3.1 What is multitasking?

The multitask function is explained in this section.
Multitasking is a function that runs several programs as parallel, to shorten the tact time and enable control
of peripheral devices with the robot program.
Multitasking is executed by placing the programs, to be run in parallel, in the items called "slots" (There is a
total of 32 task slots. The maximum factory default setting is 8.).
The execution of multitask operation is started by activating it from the operation panel or by a dedicated
input signal, or by executing an instruction related to multitask operation.
The execution environment for multitasking is shown in
Fig.4-1:Multitask slot environment
Execution of a program
A program is executed by placing it in an item called a "slot" and running it. For example, when running
one program (when normally selecting and running the program with the controller's operation panel), the
controller system unconditionally places the program selected with the operation panel in slot 1.
Multitask slot environment
Slot 1
XRUN
XLOAD
XRST
XSTP
XCLR
External variables, user-defined external variables
Fig. 4-1.
Slot 2
：：：：：
User base program
4MELFA-BASIC V
Slot n
Multitask function 4-125