Program Interrupt Instructions If signal 1001 transitions during execution of step 43, step 43 completes, the subroutine alarm is called, and execution resumes at step 44. If signal 1001 transitions during execution of step 47, steps 47, 48, and 49 completes (since the program had been given a higher priority than REACT), the subroutine alarm is called, and execution resumes at step 50. 1 REACTE REACTE enables a reaction program that is run whenever a system error that causes program execution to terminate is encountered. This includes all robot errors, hardware errors, and most system errors (it does NOT include I/O errors).
Unlike REACT and REACTI, REACTE cannot be deferred based on priority considerations. The instruction: REACTE trouble enables monitoring of system errors and execute the program trouble whenever a system error is generated. HALT, STOP, and PAUSE When a HALT instruction is encountered, program execution is terminated, and any open serial or disk units are DETACHED and FCLOSEd. PROCEED or RETRY will not resume execution. When a STOP instruction is encountered, execution of the current program cycle is terminated and the next execution cycle resumes at the first step of the program.
If the STOP instruction is encountered on the last execution cycle, program execution is terminated, and any open serial or disk units are DETACHED and FCLOSEd. PROCEED or RETRY will not resume execution. (See EXECUTE for details on execution cycles.) When a PAUSE instruction is encountered, execution is suspended. After a PAUSE, the system prompt appears and Monitor Commands can be executed. This allows you to verify the values of program variables and set system parameters. This is useful during program debugging. The monitor command PROCEED resumes execution of a program interrupted with the PAUSE command. BRAKE, BREAK, and DELAY BRAKE aborts the current robot motion.
This instruction can be issued from any task. Program execution is not suspended and the program (executing as task 0) continues to execute at the next instruction. BREAK suspends program execution (defeats forward processing) until the current robot motion is completed. This instruction can be executed only from a robot control program and is used when completion of the current robot motion must occur before execution of the next instruction. A DELAY instruction specifies the minimum delay between robot motions (not program instructions). eV+Language User's Guide, v2.x, 18318-000 Rev A Page 64