REACTI program instruction REACTI program instruction Syntax REACTI signal_num, program , priority Function Initiate continuous monitoring of a specified digital signal. Automatically stop the current robot motion if the signal transitions properly and optionally trigger a subroutine call. Usage Considerations For most applications, the REACTI instruction should be used only in a robot control program. (See below for more information.) When a REACTI triggers, the robot that is stopped is the one selected by the task at the time of the trigger, regardless of which robot was selected at the time the REACTI instruction was executed.
Also see the considerations listed for the REACT program instruction. Parameters signal_num Real-valued expression representing the signal to be monitored. The signal number must be in the range 1001 to 1012 (external input signals) or 2001 to 2008 (internal software signals). (The software signals can thus be used by a secondary program to interrupt the robot control program, and vice versa.) If the signal number is positive, eV+ looks for a transition from off to on; if signal is negative, eV+ looks for a transition from on to off. program Optional name of the subroutine that is called when the signal transitions properly.
priority Optional real-valued expression that indicates the relative importance of this reaction as explained below. The value of this expression is interpreted as an integer value and can range from 1 to 127. If this argument is omitted, it defaults to 1. See the LOCK instruction for additional details on priority values. Details When the specified signal transition is detected, eV+ reacts by immediately stopping the current robot motion. If a program is specified, eV+ then continues processing the reaction just as it would for a REACT instruction. (See the description of the REACT instruction for a full explanation of this processing).
eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 422