eV+ Program Types eV+ Program Types There are two types of eV+ programs: l Executable Programs l Command Programs Executable programs are described in this section. Command programs are similar to MS-DOS batch programs or UNIX scripts, and they are described in the eV+ Operating System User's Guide . Executable Programs There are two classes of executable programs: robot control programs and general programs. Robot Control Programs A robot control program is an eV+ program that directly controls a robot or motion device. It can contain any of the eV+ program instructions.
Robot control programs are usually executed by program task #0, but they can be executed by any of the program tasks available in the eV+ system. Task #0 automatically attaches the robot when program execution begins. If a robot control program is executed by a task other than #0, however, the program must explicitly attach the robot (program tasks are described in detail later in this chapter). For normal execution of a robot control program, the system switch DRY.RUN must be disabled and the robot must be attached by the robot control program.
Then, any robot- related error will stop execution of the program (unless an error-recovery program has been established [see REACTE in the eV+ Language Reference Guide ]). 1 Exclusive Control of a Robot l Whenever a robot is attached by an active task, no other task can attach that robot or execute instructions that affect it, except for the REACTI and BRAKE instructions. For details, see Program Interrupt Instructions on page 62. l When the robot control task stops execution for any reason, the robot is detached until the task resumes, at which time the task automatically attempts to reattach the robot.
If another task has attached the robot in the meantime, the first task cannot be resumed. l Task #0 always attempts to attach robot #1 when program execution begins. No other tasks can successfully attach any robot unless an explicit ATTACH instruction is executed. l Since task #0 attempts to attach robot #1, that task cannot be executed after another task has attached that robot. If you want another task to control the robot and you want to execute task #0, you must follow this sequence of events: eV+Language User's Guide, v2.x, 18318-000 Rev A Page 20