Your welcome. 
I think it will be the way to go or certainly something worth looking in to as you will find most Kawasaki systems out there what have been programmed by experienced guys/veterans will have some very clever PC Tasks rattling around like error handling and external peripheral controls parallel to the main tasks.
As you are looking into PC Tasking a recommendation for 'managing' PC Tasks check out the TASK command, you can use this to check on the status of PC Tasks and use this command to manage them.
Also SYSDATA for grabbing information like step no.s etc.
