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ID : 3509

Supervisory Task

A supervisory task refers to a task executable regardless of operating mode of a COBOTTA.

It will not stop even if an error occurs in other tasks. (Except for level 5 errors)

It can be used as an always-running system program while the COBOTTA is active.

  • Automatic restoration processing in case of facility or robot failure
  • Simplified facility control

It can be automatically start when robot controller power is turned on.

The supervisory task cannot operate robot directly. Axis control cannot be acquired. Therefore, a command which requires acquiring axis control cannot be performed.

Switching the operation mode from Direct to Normal can start the robot motion, depending on the program.
Before you use the supervisory task, be sure to check the safety requirements with the risk assessment.

Identification of Supervisory Task File

Supervisory task files are identified by file name according to the rules below.

  • The first 3 characters of the file name shall be "tsr." The characters are not case sensitive.
  • Characters from the 4th to the last character before the extension shall be numbers.
  • Extension shall be ".pcs."

E.g. tsr0056.pcs

Activation of Supervisory Task

Just like the normal tasks, a supervisory task can be "started" by selecting file or Run from other task.

A supervisory task can be started automatically in addition to be started as normal.

For information on how to set the Supervisory Task, see "Settings Associated with Start/Stop of Supervisory Task" on the TP App Operation Guide.

  • When a COBOTTA is turned on. ("Root only" or "All supervisory tasks" is selectable.)
  • When "supervisory task start" button on "shortcut" screen and "program assist function" screen is pressed.
  • Select and open a supervisory task file in a program list screen.
  • A supervisory task can be started by an I/O command (only available in standard allocation).
  • Start it from other program. Refer to "Run."

A supervisory task which is sent from WINCAPSIII immediately before may take a second to start up because "startup pre-check" has not been completed.

Conditions of Supervisory Task Interruption

A supervisory task stops in the following conditions.

  • A COBOTTA is turned off.
  • The "suspend" button is pressed with the task selected. "Step stop" button is effective for a supervisory task.
  • Press "supervisory task stop" button in "program assist function."
  • Press "stop" button of "supervisory task" button in "short cut" screen.
  • Any error in own task of "supervisory task stop" occurs. Refer to "program setting_supervisory task."

    Errors which level are level 1 or 2 are processed as error level 3.

  • Any error of level 5 or higher occurs.
  • A supervisory task can be stopped by an I/O command (only available in standard allocation).
  • Stop by specifying a task from other task. Refer to "Kill", "Suspend." A supervisory task does not stop by "SuspendAll" or "KillAll."
  • Saving program. "Saving syntax check" button or paste of program files in "program edit screen."

ID : 3509

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