FORCE._ program instruction For example, the clause "poslatch 1001" will cause a position latch to occur on the leading edge of a change in input signal 1001. An example of this clause is shown in the following code: 3. In your eV+ program, initiate stop-on-digital-signal using a FORCE.MODE (2) program instruction. You can detect a stop by polling the LATCHED(1) function or the STATE(2) function. You can disable stop-on-digital-signal with a FORCE.MODE(-2) program instruction. An example of using the "stop-on-digital-signal" capability is shown below:
MOVE goal ;Start motion FORCE.MODE (2) ;Enable "stop-on-digital-signal" mode WAIT STATE(2) 1 ;Wait until the move terminates FORCE.MODE (-2) ;Disable "stop-on-digital-signal" mode trigger = LATCHED(0) ;Determine if trigger occurred After a "stop-on-digital-signal" occurs, the LATCHED() function returns the signal number that triggered the latch (e.g. 1001) to indicate that the event had occurred, and the transformation function LATCH() and the precision-point function #PLATCH() return the position of the robot at the time of the event. The real-valued function STATE(2) can be used eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 254