Special Tasks

Each task of SPEL+ pauses by Pause input or Safety Door open and stops by Emergency Stop or Error. Therefore you cannot create a system that monitors the whole system.

To enable the Robot Controller to monitor the whole system, the following special tasks are provided:

• NoPause/NoEmgAbort task

  You can create a task that continues a processing even when the Pause is input or safeguard is open by specifying NoPause or NoEmgAbort as a task type when creating task by Xqt.

• Background task

  You can create a task that starts as the controller power is turned ON and continues a processing even when the Pause is input or safeguard is open.

These special tasks are useful tasks but may reduce the safety of the system by using them improperly.

Be sure to understand the following items when using these tasks.