User`s guide

Executing Programs
When V+ is actively following the instructions in a program, it is said to be executing that
program.
The standard V+ system provides for simultaneous execution of up to seven different
programs-for example, a robot control program and up to six additional programs. The
optional V+ extensions software provides for simultaneous execution of up to 28 programs.
Execution of each program is administered as a separate program task by the system.
The way program execution is started depends upon the program task to be used and the
type of program to be executed. The following sections describe program execution in detail.
Selecting a Program Task
Task # 0 has the highest priority in the (standard) task configuration. Thus, this task is
normally used for the primary application program. For example, with a robot system, task
#0 is normally used to execute the robot control program.
NOTE:As a convenience, when execution of task #0 begins, the task always
automatically selects robot #1 and attaches the robot.
Execution of task #0 is normally started by using the EXECUTE monitor command, or by
starting the program from the manual control pendant.
While task #0 is executing, the V+ monitor does not display its normal dot prompt. An
asterisk (*) prompt is used instead to remind the user that task #0 is executing. The asterisk
prompt does not appear automatically, however. The prompt is displayed whenever there is
input to the V+ system monitor from the system terminal.
NOTE:Even though the system prompt is not displayed while program task #0 is
executing, V+ monitor commands can be entered at any time that a program is not
waiting for input from the terminal.
The ABORT monitor command or program instruction stops task #0 after the current robot
motion completes. The CYCLE.END monitor command or program instruction can be used to
stop the program at the end of its current execution cycle.
If program execution stops because of an error, a PAUSE instruction, an ABORT command or
instruction, or the monitor commands PROCEED or RETRY can be used to resume execution
(see the V+ Operating System Reference Guide for information on monitor commands).
While execution is stopped, the DO monitor command can be used to execute a single
program instruction (entered from the keyboard) as though it were the next instruction in
the program that is stopped.
For debugging purposes, the SSTEP or XSTEP monitor commands can be used to execute a
program one step at a time. Also, the TRACE feature can be used to follow the flow of
program execution. (The program debugger can also be used to execute a program one
Executing Programs
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