IAI America ASEL - Manual (Page 316)

Part 2 Programs
Chapter 10 Example of Building a System
294
Part 2 Programs
26. Switching Programs
Description
Use EXPG/ABPG commands to switch programs using a program.
Example of Use 1
Start program 2 once the processing of program 1 is completed, and then end program 1.
Program 1 Program 2
Example of Use 2
Start a program via an external signal, and then end the other program.
Program 1 Program 2
If program 2 is started while program 1 is running, program 1 will be aborted.
If program 1 is started while program 2 is running, program 2 will be aborted.
Application
If a program number is specified in operand 2, the programs from the one corresponding to the program
number in operand 1 to the other corresponding to the program number in operand 2 can be started
(EXPG) or ended (ABPG) simultaneously.
Caution
z The ASEL controller supports multi-tasking. Up to 8 programs can be run at the same time. To use
other programs when the controller is already running 8 programs, switch programs by closing a
program or programs that are not required.
z If an ABPG command was executed to end a program while the program was executing a movement
command, the actuator immediately decelerates to a stop.