What is the difference among the "ipol", "servo", and "refma" tasks in the ABB IRC5 controller?

Robot Controller IRC5
1

Hi everyone,

What is the difference among the “ipol”, “servo”, and “refma” tasks in the ABB IRC5 controller?

Thanks!

2

This is my best guess:

ipol: internal task that deals with path interpolation

servo: internal task that deals with control of external kinematics

refma: no clue