IAI America XSEL-QX - Manual (Page 434)

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Appendix
27. Program Switching
Description
Use an EXPG/ABPG command to switch programs from within a program.
Example 1
Start program 2 when the processing by program 1 is completed, and end program 1.
Program 1 Program 2
EXPG 2
EXIT
Example 2
Start a program via an external signal and end other program.
Program 1 Program 2
ABPG 2 ABPG 1
If program 2 is started while program 1 is operating, program 1 will be aborted.
If program 1 is started while program 2 is operating, program 2 will be aborted.
Application
By specifying a program number in operand 2, you can simultaneously start (EXPG) or end (ABPG) all of
the programs corresponding to the program number specified in operand 1 through the number specified
in operand 2.
Note
z X-SEL controllers support multi-tasking. By starting other program while a program is currently running
and repeating this process, you can start a total of up to 16 programs. If there are more than 16
programs to be used, switch programs and end unnecessary programs.
z If a program is executing a movement command when an ABPG command is issued to end the
program, any axis moving at the time will immediately decelerate to a stop.