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- Automation1: The Automation1 software offers advanced task management and program flow options, including calling subroutines on other tasks and transferring program execution to other tasks. Please see the Task and Program Functions documentation for complete information.
- A3200: The A3200 offers similar functionality to Automation1. Refer to the Program Control Command Category and Program Flow Command Category articles in the A3200 Help files for details.
- Ensemble and Soloist: You can perform basic task management using the PROGRAM commands to run and handle programs on other tasks. Calling subroutines on other tasks is not possible with these controller architectures. See the Tasks Command Category and the Program Flow Command Category articles in the Help documentation for details.
Example Use Case
Customers may find the following common configuration useful, especially on A3200 and Automation1:
- Use Task 1 for running motion programs, controlled by the machine operator.
- Dedicate Task 2 to a "Safety"/"Watcher" program that handles faults and errors from Task 1.
- Use Task 3 to run any setup functions using the Program Automation features; for example, a program that runs on startup to Enable and Home the axes.
- Use Task 4 to communicate between the tasks if necessary.
One of these tasks may also be replaced by a library program that runs transformations; for example, when using normalcy to a surface or when programming a hexapod.
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