User Manual

7. Description of the commands
7−7
Festo P.BE−SPC200−EN en 0901d
Please note
Please obser ve the following instructions when using the
parallel program processing:
 The control signals STOP, START/RESET, ENABLE and
R EADY as well as the freely programmable I/Os serve
both tasks together.
 Flags, registers and position registers are managed com
monly by both tasks.
 The control signals SYNC_.../CLK_..., MC_.../RC_... and
where applicable ACK_... are managed
separately by the
relevant task (A or B).
 Settings for positioning are managed separately by each
task (task−specific). All the presettings for positioning
named in chapter 7.1.3 belong here.
If a task accesses an axis, this axis will remain assigned
until the relevant NC command has been processed or
until the nominal position is
reached. The axis will then
be made available again.
If a program wishes to access an assigned axis, it will
remain in the waiting status until the axis is made avail
able again.
Exception 1:
If the assigned axis processes an M10 or M39 command
and another task tries to access the axis,
an appropriate
fault message will be triggered.
Exception 2:
The M12 command (Stop axes) will immediately stop all
addressed axes, irrespective of the task which has as
siged them. In such cases both tasks must be program−
technically synchronized, e.g. by the setting and interro
gating of flags.