User's Manual

HARSFEN0602
Read any
additional chars
from RS232 buffer
Message
completed?
Route message to
interpreterr
Long Record in
transmission?
Present buffer
done?
Last data
loaded?
Reload buffer
Route transmittter
to interpreter
output
Auto routine
waiting for
execution?
Set program
counter of thread
0 to auto routine
User program
running?
Run next
instruction of user
program
Motion
Exception?
Shut motor & set
exception flag
Node guarding
Yes
Yes Yes
No
Yes
Yes
Break point?Yes No
Yes
Figure 42: Idle loop