Difference of Task

PacScript has Supervisory tasks and TP panel tasks, other than normal tasks.

Supervisory tasks and TP panel tasks are less likely to stop than normal tasks. For example, these tasks do not stop even if an error occurs, an emergency stop turns ON. Also, tasks are operatable in manual mode. Also, these tasks can behave more systematical operations, such as error recovery processing, etc.. However, these tasks cannot operate commands to be used for controlling robots. (These tasks cannot obtain control authority of axes. To control a robot, you need to activate normal tasks using RUN command to control the robot indirectly. )

Difference of Each Task When Stopping

*1: TP panel task is a program which is activated automatically when the TP panel is displayed.

*2: Even for the Supervisory tasks or TP panel tasks, these tasks stop when an error occurs in its own task. To avoid program stops, you need to take care by reference to "Examples of error avoidance" shown below.

*3: Regardless of the error level, an error issued within Supervisory tasks or TP panel tasks causes Stop state. (If Error level 1 or 2 occurs, these errors are processed as Error level 3.)

Examples of Error Avoidance

This examples shows the situation that TP panel stops once pressing the button while an emergency stop button is pressed.

TP panel stops with displaying the error message of [0x8150101A Command is not executable while emergency stop is ON].

Original Program

Sub PB1_CLICKED()
　　Run pro1
End Sub

There are three ways to avoid stopping.

• When Pro1 does not include motion commands, runs the target command as Supervisory task.

Sub PB1_CLICKED()
　　Run TSR1
End Sub

• When an error occurs, skips the line.

Sub PB1_CLICKED()
　　On Error Resume Next 
　　Run pro1
　　On Error GoTo 0 
End Sub

• Using conditional command to not to run the task.

Sub PB1_CLICKED()
 if (sysstate and &h400) <> &h400 then 'Emergency Stop is not ON
  run pro1
 end if
End Sub

Difference of Each Task When Startup

The example below shows how to activate other tasks by using RUN command from Supervisory tasks or TP panel tasks.

*1: TP panel task is program which is activated automatically when the TP panel is displayed.

*2: When "Stop all programs" operation turns ON at mode switching or other occasion, the next startup cannot be initiated unless normal tasks and the robot fully stop. "During stopping processing" means the time period between the time of "Stop all program" turning ON and the time of robot and program completely stop. The status of the stop processing can be acquired by SysState command.