EXECUTE monitor command started (see below). cycles Optional real value, variable, or expression (interpreted as an integer) that specifies the number of program execution cycles to be performed. If omitted, the cycle count is assumed to be 1. For unlimited cycles, specify any negative value. The maximum loop count value allowed is 32767. step Optional real value, variable, or expression (interpreted as an integer) that specifies the step at which program execution is to begin. If omitted, program execution begins at the first executable statement in the program (that is, after the initial blank and comment lines, and all the AUTO, GLOBAL, and LOCAL instructions).
Details This command initiates execution of the specified control program. The program will be executed cycles times, starting at the specified program step. If no program is specified, the system reexecutes the last program executed by the selected program task. Note that there is an EXECUTE program instruction, as well as the monitor command. Thus, one program can initiate execution of other, related programs. (After a program initiates execution of another program, the initiating program can use the STATUS and ERROR real- valued functions to monitor the status of the other program.) If the task number is not specified, the EXECUTE command accesses task number 0.
The optional /C qualifier has an effect only when starting execution of task 0. When /C is not specified, an EXECUTE command for task 0 fails if the robot cannot be attached; attachment requires that the robot is calibrated and that arm power is enabled (or that the DRY.RUN switch is enabled). When /C is specified, an EXECUTE command for task 0 attempts to attach the robot but allows execution to continue without any indication of error if the robot cannot be attached. Certain default conditions are assumed whenever program execution is initiated. In effect, these are equivalent to the following program instructions:
CPON ALWAYS DURATION 0 ALWAYS FINE 100 ALWAYS LOCK 0 MULTIPLE ALWAYS NULL ALWAYS OVERLAP ALWAYS SPEED 100,100 ALWAYS SELECT ROBOT = 1 Also, the robot configuration is saved for subsequent motions. eV+Operating System Reference Guide, 2.x,18321-000 Rev A Page 87