# multitask

**URL:** <https://tech-community.robotics.abb.com/t/multitask/1492>\
**Category:** Robot Controller\
**Created:** [October 25, 2007, 8:45am UTC](https://tech-community.robotics.abb.com/t/multitask/1492 "2007-10-25T08:45:24Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![memphiss](https://avatars.discourse-cdn.com/v4/letter/m/258eb7/32.png) [@memphiss](https://tech-community.robotics.abb.com/u/memphiss)\
**Post date:** [October 25, 2007, 8:45am UTC](https://tech-community.robotics.abb.com/t/multitask/1492/1 "2007-10-25T08:45:24Z")

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Hello friends, I have a question on multitask, is there anyone can help me?

We have a system, two robots connected to conveyor system (PLC), also a encoder with Profibus interface was conected to robots, for conveyor tracking use. Now sometimes robot responses to I/O signal very slow, is there because multitask is not used? We have software option multitask installed but not used in RAPID user programs.

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**Author:** ![memphiss](https://avatars.discourse-cdn.com/v4/letter/m/258eb7/32.png) [@memphiss](https://tech-community.robotics.abb.com/u/memphiss)\
**Post date:** [October 25, 2007, 8:47am UTC](https://tech-community.robotics.abb.com/t/multitask/1492/2 "2007-10-25T08:47:29Z")

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sorry, forgot to mention: our robot is IRC5 controller and we use Profibus card to comunicate with Siemens S7-319 CPU.

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**Author:** ![claudio](https://avatars.discourse-cdn.com/v4/letter/c/7cd45c/32.png) [@claudio](https://tech-community.robotics.abb.com/u/claudio)\
**Post date:** [October 28, 2007, 6:51pm UTC](https://tech-community.robotics.abb.com/t/multitask/1492/3 "2007-10-28T18:51:39Z")

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Hi Memphiss.

Did you Check -PollRate value in the card definition, in your EIO.CFG?  
I Don’t think unused multitasking option is involved.

Regards  
Claudio

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**Author:** ![memphiss](https://avatars.discourse-cdn.com/v4/letter/m/258eb7/32.png) [@memphiss](https://tech-community.robotics.abb.com/u/memphiss)\
**Post date:** [October 29, 2007, 5:49am UTC](https://tech-community.robotics.abb.com/t/multitask/1492/4 "2007-10-29T05:49:00Z")

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Hello Claudio

Do you mean the sector of “EIO\_BUS” in EIO.CFG file?

Bellow is a sample of good one, not my robot:

* * *

EIO\_BUS:

-Name “Virtual1”

-Name “DeviceNet1” -BusType “DNET” -ConnectorLabel “First DeviceNet”

-Name “Profibus1” -BusType “PBUS” -ConnectorLabel “Channel 1 (M)”  
-CfgPath “HOME/pbus\_cfg.bin” -RecoveryTime 10

* * *

While in my robot, this sector is:

* * *

EIO\_BUS:

-Name “Virtual1”

-Name “DeviceNet1” -BusType “DNET” -ConnectorLabel “First DeviceNet”

* * *

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**Author:** ![claudio](https://avatars.discourse-cdn.com/v4/letter/c/7cd45c/32.png) [@claudio](https://tech-community.robotics.abb.com/u/claudio)\
**Post date:** [October 29, 2007, 3:05pm UTC](https://tech-community.robotics.abb.com/t/multitask/1492/5 "2007-10-29T15:05:00Z")

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No, I meant EIO\_UNIT Section, like:

# 

EIO\_UNIT:

-Name “Encoder” -Type “d354” -Bus “BASE” -Address “15”  
-Digin 11 -Digout 4 -Anin 2 -PollRate 20 -Param “Encoder\_values”

Usually -PollRate is ignored by ABB cards, but you can try…

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<div class="post-metadata">

**Author:** ![memphiss](https://avatars.discourse-cdn.com/v4/letter/m/258eb7/32.png) [@memphiss](https://tech-community.robotics.abb.com/u/memphiss)\
**Post date:** [October 30, 2007, 10:17am UTC](https://tech-community.robotics.abb.com/t/multitask/1492/6 "2007-10-30T10:17:18Z")

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Thank you Claudio

I checked and now know that we do not use Poll rate, we let robot communicate automatically because we had some problem for example to start robot on same time (cycle time to read input output).