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When programming for any Aerotech controller, any programs you create and run will operate on a task. This article seeks to demystify tasks for both the engineer and the machine operator.

Overview

Each task can be thought of as a separate program thread. Most Aerotech software will install with four tasks available by default; depending on your controller version, more tasks may be available.

Each task has the following properties:

  • Ability to run one AeroBasic/AeroScript program at a time
  • Task-specific variables (Automation1 2.7.0+, and all A3200 versions) which are only available to programs that run on this task
    • Task variable values persist between programs.
    • Task variables are only cleared when the controller resets.
  • Task-specific settings:
    • Motion modes
      • Task modes include Incremental vs Absolute coordinate programming, velocity blending, time and distance units, etc.
      • Additional task modes such as tool offsets are available in the Automation1 and A3200 software, including advanced CNC features.
    • Velocities and accelerations
      • Task velocities and accelerations apply to coordinated motion such as LINEAR/G1/MoveLinear commands.
    • These values are loaded from the defaults stored in the parameter file or MCD when the controller powers on.
    • These values persist between programs.
    • These values are only restored to the parameter defaults when the controller resets. Best practices are to set all of your task modes and speeds at the top of each program.

All of the above information can be polled using the Status Utility and the Task Status programming commands (Automation1, A3200), or via the TASKSTATE and GETMODE programming commands (Ensemble, Soloist). You can use these commands to retrieve default speeds, the program line a task is running, what task modes are active, and more.



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