RAPID reference manual - Technology

InstructionIEnableRobotWare-OSIEnable - Enables interruptsIEnable (Interrupt Enable) is used to enable interrupts during program execution.ExampleIDisable;FOR i FROM 1 TO 100 DOcharacter[i]:=ReadBin(sensor);ENDFORIEnable;No interrupts are permitted as long as the serial channel is reading. When it hasfinished reading, interrupts are once more permitted.Program executionInterrupts which occur during the time in which an IDisable instruction is in effect, areplaced in a queue. When interrupts are permitted once more (IEnable), the interrupt(s)of the program then immediately start generating, executed in “first in - first out” orderin the queue. Program execution then continues in the ordinary program and interruptswhich occur after this are dealt with as soon as they occur.Interrupts are always permitted when a program is started from the beginning,. Interruptsdisabled by the ISleep instruction are not affected by the IEnable instruction.SyntaxIEnable‘;’Related informationDescribed in:Summary of interruptsPermitting no interruptsRAPID Summary - InterruptsInstructions - IDisableRAPID reference manual - part 1a, Instructions A-R 135