IAI America XSEL-KET - Manual (Page 261)

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Part 4 Commands
INTELLIGENT ACTUATOR
1-23 Building of Pseudo-Ladder Task

CHPR (Change task level)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional CHPR 0 or 1 Prohibited CP
[Function] Specify “1” (User HIGH) if you wish the target task to be processed before other tasks.
This command can also be used with non-ladder tasks.
Task level change (0: User NORMAL, 1: User HIGH) is not a required component, but
specifying User HIGH will require a TSLP command explained below. (Without TSLP, tasks of
the User NORMAL level will not be processed.)

TPCD (Specify processing to be performed when input condition is not specified)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Prohibited Prohibited TPCD 0 or 1 Prohibited CP
[Function] Specify the processing to be performed when input condition is not specified.
(0: Execute, 1: Follow the input condition in the last executed step)
In a ladder task, always input “1” (Follow the input condition in the last executed step) in
operand 1.
In a non-ladder task, always input “0” (Execute). (The default value is “0.”)