Program Interrupt Instructions if) a transition is detected, the program suspends execution at the currently executing step. REACT and REACTI suspend execution of the current program and call a specified subroutine. Additionally, REACTI issues a BRAKE instruction to immediately stop the current robot motion. Both instructions specify a subroutine to be run when the digital transition is detected. After the specified subroutine has completed, program execution resumes at the step executing when the digital transition was detected. Digital signals 1001 - 1012 and 2001 - 2008 can be used for REACT instructions.
The signal monitoring initiated by REACT/REACTI is in effect until another REACT/REACTI or IGNORE instruction is encountered. If the specified signal transition is not detected before an IGNORE or second REACT/REACTI instruction is encountered, the REACT/REACTI instruction has no effect on program execution. The syntax for a REACT or REACTI instruction is: REACT signal_number, program, priority signal_ number digital input signal in the range 1001 to 1012 or 2001 to 2008. program the subroutine (and its argument list) that is to be executed when a react is initiated. priority number from 1 to 127 that indicates the relative importance of the reaction.
The following code implements a REACT routine: 35 ; Look for a change in signal 1001 from "on" to "off". 36 ; Call subroutine "alarm if a change is detected. 37 ; Set priority of "alarm" to 10 (default would be 1). 38 ; The main program has default priority of 0. 39 40 REACT -1001, alarm, 10 41 42 ; REACT will be in effect for the following code 43 44 MOVE a 45 MOVE b 46 LOCK 20 ;Defer any REACTions to "alarm" 47 MOVE c 48 MOVE d 49 LOCK 0 ;Allow REACTions 50 MOVE e 51 52 ; Disable monitoring of signal 1001 53 54 IGNORE -1001 55 . eV+Language User's Guide, v2.x, 18318-000 Rev A Page 63