# Start individual task in Multitask system

**URL:** <https://tech-community.robotics.abb.com/t/start-individual-task-in-multitask-system/9250>\
**Category:** RAPID Programming\
**Tags:** multitasking, rapid, digital-input\
**Created:** [December 28, 2019, 3:08am UTC](https://tech-community.robotics.abb.com/t/start-individual-task-in-multitask-system/9250 "2019-12-28T03:08:36Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![csmith](https://avatars.discourse-cdn.com/v4/letter/c/74df32/32.png) [@csmith](https://tech-community.robotics.abb.com/u/csmith)\
**Post date:** [December 28, 2019, 3:08am UTC](https://tech-community.robotics.abb.com/t/start-individual-task-in-multitask-system/9250/1 "2019-12-28T03:08:36Z")

</div>

Hi,

I have two tasks in my RAPID code, one normal motion task and another semi-static task.  
The semi-static task auto-starts whenever the controller is booted and I want to run the second task using a Digital Input which is tied to a System Input that runs RAPID.

When I flip the Digital Input, I am getting an error message saying ‘Start rejected’, and one of the possible causes listed is that there is an already executing task.

How can I start my motion task when there is an already executing semi-static task?  
I wasn’t able to specify a task in the System Input settings.  
Using Robotware 6.08

Thank you

---

<div class="post-metadata">

**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [December 30, 2019, 5:34am UTC](https://tech-community.robotics.abb.com/t/start-individual-task-in-multitask-system/9250/2 "2019-12-30T05:34:39Z")

</div>

You can have the task and code running but the main program loop is held waiting for the digital input.

---

<div class="post-metadata">

**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [December 30, 2019, 5:37pm UTC](https://tech-community.robotics.abb.com/t/start-individual-task-in-multitask-system/9250/3 "2019-12-30T17:37:54Z")

</div>

If your normal task is NOT running, the issue is likely to be something else, and not related to the background task. Don’t worry about that task. Look for: are the motors on? Is there a stop input on at the same time that the start is issued?

---

<div class="post-metadata">

**Author:** ![csmith](https://avatars.discourse-cdn.com/v4/letter/c/74df32/32.png) [@csmith](https://tech-community.robotics.abb.com/u/csmith)\
**Post date:** [December 31, 2019, 8:32pm UTC](https://tech-community.robotics.abb.com/t/start-individual-task-in-multitask-system/9250/4 "2019-12-31T20:32:25Z")

</div>

Thank you, further debugging showed that the motion task was indeed running.  
It’s working as expected now.

Thanks!