Attached is a cross reference of 6K commands to the AcroBasic programming language for users who are familiar with the 6K language and want to investigate upgrading to the more advanced ACR9000 or ACR7000 controller:
6K to ACR command cross reference.pdf
Both the 6K language and AcroBasic are text based languages that run from the top down.
Architecturally, the 6K's programs by default ran one at a time unless using the advanced Multitasking.
Most 6K applications would powerup and run the STARTP program (typically SETUP) and at the end of the program it would then do a GOTO MAIN
The MAIN program may be looping, changing some variable values and then doing a GOSUB to another program to run a particular part with those variable values and then coming back and continuing the loop.
In this situation, the programs are only running sequentially. In re-writing it for AcroBasic, each 6K program would be done as a subroutine with code in its own _label with a RETURN.
REM MAIN CODE HERE
REM SETUP CODE HERE
REM PART A CODE HERE
REM PART B CODE HERE
The ACR's programs 0-7 if running can be running all the time and are independent of the other programs. Two axis could be running with interpolated motion on Prog0 and another 2axis could be running indepedently with its own coordinate system in Prog1. Other than the enable input on the controller (if opened, it'd halt both programs), the two systems would be running their own programs independent of each other.
Programs 8-15 are non-motion programs and share 1 time slice. Be careful as noted in the Programmer's Guide, a DWL or INH in prog8-15 would affect the other programs 8-15. These are typically used for checking system conditions and error recovery.
Note that some commands such as INFNC do not have an equivalent but could be re-programmed with one of these other programs looping in the background.