User`s guide

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).
Program Interrupt Instructions
V+Language User's Guide, v17.0
Page 124