IAI America ASEL - Manual (Page 285)

Part 2 Programs
Chapter 8 Real-T
ime Multi-T
asking
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Part 2 Programs
5. Program Switching
Various methods are available to switch between programs, depending on the purpose of programs.
The representative methods are explained below.
External start
Program switching
Program Single-tasking EXIT command
Multi-tasking EXPG command
First, the program switching methods are largely divided into switching by external start and switching
by application program.
(1) External start method Refer to Chapter 4, 2.2, “Standing via External Signal
Selection” in Part 1.
(2) Program method
{ Single-tasking
Executing an EXIT command (end program) at the end of each program will end the program and
cause the system to return to the condition immediately after the power is turned on. However,
since the home position is retained, another program can be started by an external start input with
the corresponding program number specified.
{ Multi-tasking
Creating a management program and executing EXPG commands (start other program) will allow
a series of programs to be run in parallel.