IAI America XSEL-KE - Manual (Page 324)

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Appendix
27. Program Switching
Description
Use EXPG/ABPG commands to switch programs from within a program.
Example of Use 1
When the processing by program 1 has completed, program 2 is started and program 2 ends.
Program 1 Program 2
EXPG 2
EXIT
Example of Use 2
Start a program externally 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) the
programs corresponding to the program number specified in operand 1 through the number specified in
operand 2.
Note
ە All X-SEL controllers support multi-tasking. By starting other programs while a given program is
running, you can start a total of up to 16 programs. If more programs must be used, switch programs to
end unnecessary programs.
ە If you end a program with an ABPG command and any move command is currently being executed in
the applicable program, the applicable axis or axes decelerate to a stop immediately.