Owner manual

275

INTELLIGENT ACTUATOR

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.