REACTI program instruction When REACTI is used by a program task that is not actually controlling the robot, care must be exercised to make sure the robot control program does not nullify the intended effect of the reaction subroutine. That is, if your application has one program task monitoring the signal and a different program task controlling the robot, you should keep the following points in mind when planning for processing of the reaction: l The robot motion in process at the time of the reaction is stopped, as if a BRAKE instruction were executed, but execution of the robot control program is not directly affected.
l If a reaction subroutine is specified, that routine is executed by the task that is monitoring the reaction (not by the task controlling the robot). The signal monitoring continues until one of the following occurs: l An IGNORE instruction is executed for the signal. l A reaction occurs (in which case IGNORE signal_num is automatically performed). l A REACTI (or REACT) instruction is executed that refers to the same signal. That is, if the signal specified in a REACTI instruction is already being monitored by a previous REACTI or REACT instruction, the old instruction is canceled when the new REACTI instruction is executed.
If you do not want the robot motion to stop until the reaction program is actually called, you should use a REACT instruction and put a BRAKE instruction in the reaction program. Example The instruction below initiates monitoring of external input signal #1001. The robot motion is stopped immediately if the signal ever changes from on to off (since the signal is specified as a negative value). A branch to program alarm then occurs when the program priority falls below 10 (if it is not already at or below that level).
REACTI -1001, alarm, 10 Related Keywords IGNORE program instruction LOCK program instruction PRIORITY real-valued function REACT program instruction REACTE program instruction SIG.INS real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 423