FAQ: How is task sharing accomplished in the SMC controllers?
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The SMC controllers can execute up to four tasks (also called threads) at one time. In general, each task has equal priority, and each task (program) will run one LINE at a time. The task execution can be manipulated using "task pausing" and "task hogging".
Pausing a task is accomplished by using "trip points" in the program, such as "after move" (AM), "after time" (AT), or "after input" (AI) commands. These commands temporarily pause the program until a certain condition is met. For example, the command "AI -1" will pause the task until input 1 goes low. During this time, the other thread will continue to execute, but the "paused" thread will wait. In addition, a thread can also be completely halted by using the HX command.
Hogging a thread is accomplished by putting multiple commands on a single line. Each LINE will execute fully, regardless of the number of commands on that line. Individual commands are separated by semicolons. Each line can have up to 80 characters.
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