In FANUC's R-30iB controller, what is the function of the 'Background Logic' (BGL) feature?
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A
It runs a secondary TP program concurrently with the main motion program using the PLC-like scan cycle
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B
It compiles Karel programs in the background while TP programs execute
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C
It caches frequently used motion paths in RAM to reduce interpolation latency
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D
It monitors battery voltage and logs warnings asynchronously