User`s guide

and you want to execute task #0, you must follow this sequence of events:
l Start task #0.
l Have task #0 DETACH the robot.
l Start the task that will control the robot. (The program executing as task #0
can start up another task.)
l Have that task ATTACH the robot.
For more information on the ATTACH and DETACH instructions, see Creating Windows
on page 245.
l Note that robots are attached even in DRY.RUN mode. In this case, motion commands
issued by the task are ignored, and no other task can access the robot.
General Programs
A general program is any program that does not control a robot. With a robot system, there
can be one or more programs executing concurrently with the robot control program. For
example, an additional program might monitor and control external processes via the
external digital signal lines and analog signal lines.
General programs can also communicate with the robot control program (and each other)
through global variables and software signals. (General programs can also have a direct effect
on the robot motion with the BRAKE instruction, although that practice is not
recommended.)
With the exception of the BRAKE instruction, a general program cannot execute any
instruction that affects the robot motion. Also, the BASE or TOOL settings cannot be changed
by general programs.
Except for the robot, general-purpose control programs can access all the other features of
the Adept system, including the AdeptVision option (if it is present in the system), the
(internal and external) digital signal lines, the USER serial lines, the system terminal, the disk
drives, and the manual control pendant.
Note that except for the exclusion of certain instructions, general-purpose control programs
are just like robot control programs. Thus, the term program is used in the remainder of this
chapter when the material applies to either type of control program.
1
If the system is in DRY.RUN mode while a robot control program is executing, robot motion
instructions are ignored. Also, if the robot is detached from the program, robot-related errors
do not affect program execution.
V+ Program Types
V+Language User's Guide, v17.0
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