Assume we have a multi-task rapid program with priorities as MAIN>BACK1>BACK2<>BACK3 and SUP1>SUP2.
Can we use SetDO -WaitDO signals, Dispatcher, and interrupt handling among all these tasks for synchronisation.
Not sure what you mean by dispatcher but signal commands and Interrupts can be used in all tasks.
Non-motion tasks can not use motion commands but generally all other commands can be used.