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Switching programs – IAI America SSEL User Manual

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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 SSEL 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.