Share variables between 3+ RAPID Tasks

RAPID Programming
1

Hello community,

I am working with an IRB 2400/16 and I am developing an applications which uses 3 tasks: T_PAR, T_EXTRUDER, T_ROB1.

T_PAR is a tasks which communicates via socket for getting a data message and save the message in 8 variables: 6 for the pose and 2 for speed and extrusion parameter.

T_EXTRUDER: takes the extrusion parameter from the reading in T_PAR and makes a communication socket with another device.

T_ROB1: Takes the pose data from T_PAR and executes the motion.

Question: the variables are saved in SYSTEM module and shared installing the module in the autoloading. But they are only shared between T_PAR and T_EXTRUDER. Is it normal?

Thank you in advance

Fede

2

The Data must be declared as PERS in all tasks which must share it.

3

But with PERS the data can be modified between all tasks?

4

Yes as long as you declare data as PERS and with same name you can read/write the data in all tasks.

I usually only to declare the “initial value”, the :=, in one of the task, e.g.
T_ROB1: bTest:=TRUE;
T_ROB2: bTest;
T_ROB3: bTest;

5

yes

6

This is not the case when the module is installed shared, all data in an installed shared module are shared between tasks. Even data declared as VAR.