parallel program ABB IRB 6400

[kennedyrsb]

Good morning, I need my ABB IRB 6400 to read a program that is in parallel with the main program. Can someone help me?

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[SAABoholic]

That would be either traps or multitasking depending on how elaborate your parallel program is and what you're trying to do.

[kennedyrsb]

we can call it multitasking, but I need it to be running even when the robot is in manual mode. I will use the program in parallel to deactivate an equipment that works with the robot.

[Lemster68]

So the first thing is to verify that your robot has the multitasking option.  Look in your backinfo file.

[kennedyrsb]

#
# System backup
# Originally at: flp1:/BAK0207
# 2019-02-07  13:39:05
#
>>SYSTEM_ID:
LIC9999-0246

>>PRODUCTS_ID:
3HAC2700-2/50 System Pack 3.2
  TP Language
  Irb 6400
  Ethernet Services FTP
  LoadId and ColDetect
  Multitasking
  IO Plus
  Advanced Functions
  SpotWare

>>ROBOT_TYPE:
6400/2.4-150

>>SYSPAR:
SYS.cfg
SIO.cfg
EIO.cfg
MOC.cfg
PROC.cfg
MMC.cfg

>>TASK0: (MAIN)
SYSMOD/BASE.sys @ flp1:/BAK0108/RAPID/TASK0/SYSMOD/BASE.sys
SYSMOD/module1.sys @ ram1disk:MODULE1.sys
PROGMOD/GP_01.mod @ ram1disk:GP_01.mod
SYSMOD/BASEFUN2.sys @ ram1disk:basefun2.sys

>>TASK2: (MESA_SUP)
SYSMOD/MESA.sys @ ram1disk:MESA.sys

>>EOF:

[Lemster68]

ok, so you need to configure your task, if you set it to static or semistatic, it will remain running while the robot is in manual, e-stopped, whatever.  Only not running if it faults due to execution error or robot is off.

[kennedyrsb]

Thank you. 

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