IAI America TT-C3 - Manual (Page 285)

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INTELLIGENT ACTUATOR
Appendix
Appendix
25. Switching Programs
Description
Switch from one program to another via programming by using an EXPG or ABPG command.
Example of Use 1
Start program 2 when the processing under program 1 is completed, and end program 1.
Program 1 Program 2
: :
EXPG 2 :
EXIT
Example of Use 2
Start a different program externally and end the current program.
Program 1 Program 2
ABPG 2 ABPG 1
: :
If program 2 is started while program 1 is running, program 1 will be aborted.
If program 1 is started while program 2 is running, program 2 will be aborted.
Application
Specifying a program number in operand 2 will allow all programs from the one corresponding to the
program number specified in operand 1 to one corresponding to the program number specified in
operand 2 to be started (EXPG) or aborted (ABPG) simultaneously.
Note
z The Tabletop Robot supports multitasking. By starting different programs successively while the
robot is running a given program, a total of up to 16 programs can be run simultaneously. To use
programs different from the 16 programs currently running, close unnecessary programs and then
switch to the desired programs.
z If a program is aborted via an ABPG command and the program was executing a movement
command, the actuator will immediately decelerate to a stop.