So, diving down yet another rabbit hole... I'm trying to use MultiMove Independent to control a custom (non-ABB) multi-axis positioner as a separate Task, independent of the robot's motion Task. Ideally, I'd like to achieve something like a cross between a SemiStatic "background" Task, and a Motion Task.
Right now, I'm doing this as a simulation in RobotStudio (RW 6.13) before I make any attempts in hardware, so I'm free to experiment without fear of destroying anything.
After a lot of reading and some back&forth with ABB, I worked out how to create my custom positioner, and give "custody" of it to a second Task in the robot. But now I'm not sure where to go from here. I've been able to achieve something similar to a SemiStatic Task behavior, by creating an infinite loop in my "background" Task's Main routine, and then assigning routine to a PowreOn event. Then the "foreground" and "background" Tasks handshake if needed using virtual I/O or Intertask variable.
So it works, but I can't help feeling that it's overly janky. Is there a better way to go about this? For example, instead of starting the background Task with PowerOn, are there any means in RAPID to have one Task start/stop/monitor another?