IAI America XSEL-KET - Manual (Page 337)

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INTELLIGENT ACTUATOR
Appendix
27. Program Switching
[Description]
Switch the current program in the program using an EXPG or ABPG command.
[Use example 1]
Start program 2 when the processing of program 1 is complete, upon which program 1 ends.
Program 1 Program 2
: :
EXPG 2 :
EXIT
[Use example 2]
Start a program via an external start signal and end other program.
Program 1 Program 2
ABPG 2 ABPG 1
: :
If program 2 is started while program 1 is still operating, program 1 will be aborted.
If program 1 is started while program 2 is still operating, program 2 will be aborted.
[Application]
By specifying a program number in operand 2, you can simultaneously start (EXPG) or end (ABPG) all
programs from the one corresponding to the program number specified in operand 1 to the another
corresponding to the number specified in operand 2.
[Note]

The X-SEL controller supports multi-tasking. By starting other programs while the current program is
running, you can start a total of up to 16 programs. To use different programs when 16 programs are
already running, end the unnecessary programs via program switching.
 If a program currently executing a movement command is terminated by an ABPG command, the
applicable axis instantly decelerates to a stop.