DRY.RUN system switch DRY.RUN system switch Syntax ... DRY.RUN Function Control whether or not eV+ communicates with the robot. Usage Considerations The DRY.RUN switch can be enabled or disabled by an application program, but the new setting of the switch does not take effect until the next time any of the following events occur: 1. An EXECUTE command or instruction is processed for task #0 2. The robot is attached with an ATTACH instruction 3. A CALIBRATE command or instruction is processed Before an application program changes the setting of the DRY.RUN switch, the program must have the robot detached. Otherwise, an error results when the attempt is made to change the switch setting.
Details This system switch can be used to stop eV+ from sending motion commands to the robot and expecting position information back from the robot. Thus, when the system is in DRY.RUN mode, application programs can be executed to test for such things as proper logical flow and correct external communication without having to worry about the robot running into something. (Also see the TRACE system switch.) The pendant can still be used to control the robot while the system is in DRY.RUN mode. The DRY.RUN switch is sampled whenever a robot is attached.
(Note that task #0 attempts to attach the robot when program execution begins or is resumed.) The DRY.RUN setting for a task can be changed during execution by DETACHing the robot, changing DRY.RUN, and then ATTACHing the robot. NOTE: Do not allow multiple tasks to change DRY.RUN simultaneously, since the DRY.RUN state can then be different from that expected. Your programs should use a software interlock in this case. The DRY.RUN switch is initially disabled . eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 187