[Task Manager] (Tools Menu)

: Ctrl+T

The Task Manager window allows you to Halt (suspend), Resume (continue), and Quit (abort) tasks.

Start Task Manager

Open Task Manager using either of the following methods.

• Select the Epson RC+ 8.0 menu-[Tools]-[Task Manager]
• Or, type Ctrl + T.
• Or, click on the  [Task Manager] button on the toolbar.

Item	Description
Task	Task number from 1 to 32, background tasks from 65 to 80, and 11 trap tasks.
Name	Name of the function that was started as a task.
Status	Current task status: Run, Wait, Halt, Pause, Aborted, Finished.
Type	Task types Normal: This task is a normal task NoPause: This task does not pause with Pause statement or when Pause input or Safety Door open occur. NoEmgAbort: This task continuously processes during the Emergency Stop or error occurrence.
Line	Current task line number.
Function	Current task function name.
Program	Current task program name.
Start	The date and time that the task was started.
End time	The date and time that the task ended.
CPU	CPU load factor of each task. This function assists problem detection of the user created tasks.
Halt	Suspends the selected task. The halted task can be resumed by the [Resume] button. The [Halt] button is only available when a task is running (status is Run). When Halt is executed, the [Resume] button will be enabled. If a motion command associated with Halt is executed, the motion will be completed before the task reaches the Halt state. The task also temporarily stops when the task is NoPause type or NoEmgAbort type.
Resume	After one or more tasks are suspended with the [Halt] button, clicking the [Resume] button to make the halted tasks continue where they left off. First, a confirmation dialog is displayed.
Quit	This button stops the selected task permanently. You cannot resume a task once you have executed Quit. To restart the task, you must start it from within a program or from the Run window. The task also stops when the task is NoPause type or NoEmgAbort type.
Pause	This button pauses tasks that can be paused. After pause, you must use either [Cont] or [Stop]. The task does not pause when the task is NoPause type or NoEmgAbort type.
Continue	This button continues all tasks that were paused with the [Pause] button.
Stop	Stops all tasks.

Operation

The Task Manager is used for suspending, resuming, stepping, and stopping tasks. When Task Manager is started, you will see a grid containing status information for 32 tasks standard tasks and 11 trap tasks. Also, you will see the status information of 16 background tasks if the background task is enabled. There are 8 items shown for each task. To view all of the columns, use the scroll bar or resize the window.

In the following Example 1, the function repeats until the standard input I/O bit port 1 turns ON.

Since Sw() is the command in which the tasks are not switched, this task occupies the process. It may affect other user tasks or the whole system of the Controller. In order to specify such tasks, use the CPU load factor display.

Restrictions

Displayed values do not guarantee the accuracy. Due to limitations of measuring method, some differences are included. The load factor of the properly created program is minimal. Also, in a program like Example 2, commands are executed by other system tasks. Therefore, the load factor is displayed as "0".

Example 1)

Function main
  Do
    Do
      If  Sw(1) = On Then Exit Do
    Loop
    Go P(0)
  Loop
Fend

Example 2)

Function main
  Do
    Print "TEST"
  Loop
Fend

To Halt, Step, Walk, and Resume a task

The [Halt] button will become active after you select a running task.

Click the [Halt] button to stop the task you selected for a moment.

After a task has been halted, the source code will be displayed and the next step will be indicated. You can click on the [Resume] button to resume execution. (You can also execute [Step Into], [Step Over], or [Walk] from the [Run] Menu.)

To Pause and Continue tasks

Pause allows you to "suspend" all tasks that can be suspended.

Click on the [Pause] button to pause available tasks. The robot will decelerate to a stop immediately.

After executing Pause, click on the [Cont] button to resume all suspended tasks.

To view source code at the current execution line

Select a task row. Then right click and select [Go To Line]. The program editor will be opened at the current execution line