User`s guide

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 .
Program Interrupt Instructions
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
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