DO monitor command The last context specified will be used if all the command parameters are omitted. Global context (or the current debug program) is the initial default. Details Normally, eV+ language keywords can be processed only if they are included in a program and that program is executed. There are often situations in which you want to execute a single program instruction without having to write a small program. The DO monitor command is provided for such cases. The DO monitor command executes a single program instruction as though it were contained within a program.
This command can be used to move the robot (for example, "DO READY") or to alter the sequence of program step execution (for example, "DO @ 2 GOTO 100"). A new global variable can be created with a DO command only if the program is null. That occurs when no "@" is seen or when there is no program on the top of the stack for the specified task. NOTE: When a DO command is processed, side effects, such as the following, can occur: l Any temporary robot-configuration or trajectory-control parameter settings (for the l If any REACT, REACTE, REACTI, or RUNSIG instructions were active in a program that referenced program task) are canceled by a motion performed with a DO command.
has been interrupted with a PAUSE instruction, the instruction(s) are re-enabled during execution of the instruction in the DO command. Examples Perform a straight-line motion to the location defined by the transformation safe.location . DO MOVES safe.location Execute an instruction in program task 1 to assign the value 5 to the variable i , which is a local variable in the program io.check . DO @1:io.check i = 5 Related Keywords DOS program instruction EXECUTE monitor command EXECUTE program instruction SSTEP monitor command XSTEP monitor command eV+Operating System Reference Guide, 2.x,18321-000 Rev A Page 80