eV+ Program Types l Start task #0. l Have task #0 DETACH the robot. l Start the task that will control the robot. (The program executing as task #0 can start up another task.) For more information on the ATTACH and DETACH instructions, see Creating Windows on page 162. l Have that task ATTACH the robot. l Note that robots are attached even in DRY.RUN mode. In this case, motion commands issued by the task are ignored, and no other task can access the robot. General Programs A general program is any program that does not control a robot. With a robot system, there can be one or more programs executing concurrently with the robot control program.
For example, an additional program might monitor and control external processes via the external digital signal lines and analog signal lines. General programs can also communicate with the robot control program (and each other) through global variables and software signals. (General programs can also have a direct effect on the robot motion with the BRAKE instruction, although that practice is not recommended.) With the exception of the BRAKE instruction, a general program cannot execute any instruction that affects the robot motion. Also, the TOOL settings cannot be changed by general programs.
Except for the robot, general-purpose control programs can access all the other features of the system, including ACE Sight (if it is present in the system), the (internal and external) digital signal lines, the USER serial lines, the system terminal, the disk drives, and the manual control pendant. Note that except for the exclusion of certain instructions, general-purpose control programs are just like robot control programs. Thus, the term program is used in the remainder of this chapter when the material applies to either type of control program. 1 If the system is in DRY.RUN mode while a robot control program is executing, robot motion instructions are ignored.
Also, if the robot is detached from the program, robot-related errors do not affect program execution. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 21