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Every element(robot/group/axis) in ControlStudio needs to be attached in order to be moved or accessed. Only one task can attach an element at same time using attach command. Terminal dos not need to use attach statement, every element is automatically attached by a terminal when a motion command is started and automatically detached when the motion is finished. In case of a task element is detached only when the explicit detach command is given or the program ends.
In addition to attach operation there is also an RTK (Real-Time-Kernel) task activation related to it. Every element has an associated RTK task to it. It can be active (producing Motion Bus commands (pcm,vcmd, drive status) and reading from it, checking position error, etc.) or suspended. A single axis is active by default and deactivated only when a group that it belongs to is attached.
If this flag is on the group's RTK remains active even after detaching it from a task/terminal.
- Trying to attach an axis belonging to an active group will return error
- Trying to attach another group/robot that has a common axis with an active group will return and error.
What happens is that if this flag is on the group detach is only partionally , it means the RTK is not suspended but another task can issue an attachment.
Since Version 4.10.x
Task or Terminal
Modal only, Read-Write
SpeedPicker.Persistent = 1