Delta RMC151 - Manual (Page 304)

RMC70/150 and RMCTools User Manual
processed a non-immediate command this control loop. Command sets
remaining in the command queue will be processed in subsequent control loops.
Notice that commands issued as part of the same command set will never be
split between different control loops. That is, either all of the commands in the
command set will be processed in the control loop, or none of them will be and
the entire command set will be deferred to the next control loop.
The command queue has a finite length. The RMC70 command queue allows up
to 6 command sets, each set with up to one command per axis. The RMC150
allows up to 12 command sets. If the command queue is full when a new
command set is received, the command set will be discarded, and Runtime Error
201 (Command block dropped) will be logged in the Event Log. This condition
can only practically occur in cases where non-immediate commands are being
issued continuously from a user program. Notice that Expression commands are
immediate commands and are therefore safe to issue continuously from user
programs.
5.3. Tasks
Tasks are for running User Programs. Each task is an execution engine that can run one User
Program at a time.
The RMC70 has up to four tasks. Therefore, the RMC70 can run up to four User Programs
simultaneously. The RMC150 has up to ten tasks. Therefore, the RMC150 can run up to ten
User Programs simultaneously. Use the Task Monitor to monitor what each task is doing. To
change the number of tasks, see the Changing the Number of Tasks below.
To start running a User Program on a task, use the Start Task (90) command.
Example
You have created a User Program called MyProgram. You want to run MyProgram. To do
this, you need to run it on a task. Use the Start Task (90) command to start running
MyProgram on any task, for example task 0.
Example
You have created two User Programs called MyProgram1 and MyProgram2. You want to
run MyProgram1 and MyProgram2 simultaneously. To do this:
1. Use the Start Task (90) command to start running MyProgram1 on any task, for
example task 0.
2. Since task 0 is already running, you must start MyProgram2 on another task, for
example on task 1. If you were to start MyProgram2 on task 0, then task 0 would
immediately stop running MyProgram1, and then start running MyProgram2. Then
they would not be running simultaneously.
Note:
In order to run tasks or the Program Triggers, the RMC must be in RUN mode. See the
RUN/PROGRAM Mode topic for details.
Starting Tasks
Tasks can be started in several ways:
• Start Task (90) command
Send a command to specify which user program to run on a certain task.
• Program Trigger
Automatically start a task based on a user-defined condition. See the Program
Triggers topic for details.
284 Delta Computer Systems, Inc.