RAPID reference manual - Technology

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InstructionISignalAIAnalog Signal InterruptProgram executionWhen the signal fulfils the specified conditions (both Condition and DeltaValue), acall is made to the corresponding trap routine. When this has been executed, programexecution continues from where the interrupt occurred.Conditions for interrupt generationBefore the interrupt subscription is ordered, each time the signal is sampled, the valueof the signal is read, saved, and later used as a reference value for the DeltaValue condition.At the interrupt subscription time, if specified DeltaValue = 0 and after the interruptsubscription time always at each time the signal is sampled, its value is then comparedto HighValue and LowValue according to Condition and with consideration toDeltaValue, to generate or not generate an interrupt. If the new read value satisfies thespecified HighValue and LowValue Condition, but its difference compared to the laststored reference value is less or equal to the DeltaValue argument, no interrupt occurs.If the signal difference is not in the specified direction, no interrupts will occur. (argument \DPos or \DNeg).The stored reference value for the DeltaValue condition is updated with a newly readvalue for later use at any sample, if the following conditions are satisfied:- Argument Condition with specified HighValue and LowValue (within limits)- Argument DeltaValue (sufficient signal change in any direction, independently of specified switch\DPos or \DNeg)The reference value is only updated at the sample time, not at the interrupt subscriptiontime.An interrupt is also generated at the sample for update of the reference value, if thedirection of the signal difference is in accordance with the specified argument(any direction, \DPos or \DNeg).When the \Single switch is used, only one interrupt at the most will be generated.If the switch \Single (cyclic interrupt) is not used, a new test of the specified conditions(both Condition and DeltaValue) is made at every sample of the signal value, comparedto the current signal value and the last stored reference value, to generate or notgenerate an interrupt.RAPID reference manual - part 1a, Instructions A-R 181
ISignalAIAnalog Signal InterruptInstructionCondition for interrupt generation at interrupt subscription timeSample before interrupt subscriptionRefValue := CurrentValueFalseInterruptsubscriptionCurrentValue tested against ConditionHighValue and LowValueTrueFalseDeltaValue = 0TrueInterrupt generatedContinue182 RAPID reference manual - part 1a, Instructions A-R
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RAPID reference manualRAPID referen
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The information in this manual is s
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ContentsEOffsOff - Deactivates an o
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InstructionAccSetRobotWare-OSAccSet
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InstructionActUnitRobotWare-OSActUn
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AddRobotWare-OSInstructionRelated i
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AliasIOAdvanced RAPIDToSignalData t
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AliasIOAdvanced RAPIDInstruction10
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“:=”RobotWare-OSInstructionLimi
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BitClearAdvanced RAPIDInstructionLi
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BitSetAdvanced RAPIDInstructionLimi
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BookErrNoAdvanced RAPIDInstructionL
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BreakRobotWare-OSInstruction20 RAPI
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CallByVarRobotWare-OSInstructionDyn
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CallByVarRobotWare-OSInstruction24
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CancelLoadRobotWare-OSInstructionSy
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CirPathModeRobotWare-OSInstructionU
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CirPathModeRobotWare-OSInstructionL
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ClearRobotWare-OSInstruction32 RAPI
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ClearIOBuffFile and Serial Channel
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ClearPathRobotWare-OSInstructionPRO
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ClearRawBytesFile and Serial Channe
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ClkResetRobotWare-OSInstruction40 R
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ClkStartRobotWare-OSInstructionErro
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ClkStopRobotWare-OSInstructionRelat
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CloseFile and Serial Channel Handli
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CloseDirFile and Serial Channel Han
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commentRobotWare-OSInstruction50 RA
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Compact IFRobotWare-OSInstruction52
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ConfJRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstruction58 RAPI
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InstructionCopyFileFile and Serial
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InstructionCopyRawBytesFile and Ser
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InstructionCopyRawBytesFile and Ser
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InstructionCorrClearPath offset & R
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CorrConPath offset & RobotWare-Arc
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InstructionCorrWritePath offset & R
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InstructionDeactUnitRobotWare-OSDea
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InstructionDecrRobotWare-OSDecr - D
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InstructionDitherActRobotWare-OSDit
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InstructionDitherActRobotWare-OSRel
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InstructionDitherDeactRobotWare-OSD
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InstructionDropSensorSensor Synchro
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InstructionDropWObjConveyor Trackin
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InstructionEOffsOffRobotWare-OSEOff
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InstructionEOffsOnRobotWare-OSEOffs
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InstructionEOffsSetRobotWare-OSEOff
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InstructionEraseModuleRobotWare-OSE
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InstructionErrLogAdvanced RAPIDErrL
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InstructionErrLogAdvanced RAPIDArgu
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InstructionErrRaiseAdvanced RAPIDEr
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InstructionErrRaiseAdvanced RAPIDAr
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InstructionErrWriteRobotWare-OSErrW
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InstructionEXITRobotWare-OSEXIT - T
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InstructionExitCycleRobotWare-OSExi
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InstructionFORRobotWare-OSFOR - Rep
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InstructionFORRobotWare-OSSyntax(EB
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InstructionGetDataValAdvanced RAPID
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InstructionGetSysDataRobotWare-OSGe
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InstructionGetTrapDataAdvanced RAPI
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InstructionGOTORobotWare-OSGOTO - G
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InstructionGripLoadRobotWare-OSGrip
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InstructionHollowWristResetRobotWar
Page 138 and 139: InstructionIDeleteRobotWare-OSIDele
Page 140 and 141: InstructionIDisableRobotWare-OSIDis
Page 142 and 143: InstructionIEnableRobotWare-OSIEnab
Page 144 and 145: InstructionIErrorAdvanced RAPIDIErr
Page 146 and 147: InstructionIErrorAdvanced RAPIDLimi
Page 148 and 149: InstructionIFRobotWare-OSIF - If a
Page 150 and 151: InstructionIncrRobotWare-OSIncr - I
Page 152 and 153: InstructionIndAMoveIndependent Axis
Page 156 and 157: InstructionIndCMoveIndependent Axis
Page 158 and 159: InstructionIndCMoveIndependent Axis
Page 160 and 161: InstructionIndDMoveIndependent Axis
Page 164 and 165: InstructionIndResetIndependent Axis
Page 166 and 167: InstructionIndResetIndependent Axis
Page 168 and 169: InstructionIndRMoveIndependent Axis
Page 174 and 175: InstructionInvertDORobotWare-OSInve
Page 176 and 177: InstructionIODisableRobotWare-OSIOD
Page 178 and 179: InstructionIODisableRobotWare-OSSyn
Page 180 and 181: InstructionIOEnableRobotWare-OSIOEn
Page 182 and 183: InstructionIOEnableRobotWare-OSRela
Page 184 and 185: InstructionIPersAdvanced RAPIDIPers
Page 186 and 187: InstructionISignalAIAnalog Signal I
Page 196 and 197: InstructionISignalAOAnalog Signal I
Page 198 and 199: InstructionISignalAOAnalog Signal I
Page 200 and 201: InstructionISignalDIRobotWare-OSISi
Page 202 and 203: InstructionISignalDIRobotWare-OSLim
Page 204 and 205: InstructionISignalDORobotWare-OSISi
Page 206 and 207: InstructionISignalDORobotWare-OSLim
Page 208 and 209: InstructionISignalGIRobotWare-OSISi
Page 210 and 211: InstructionISignalGIRobotWare-OSSyn
Page 212 and 213: InstructionISignalGORobotWare-OSISi
Page 214 and 215: InstructionISignalGORobotWare-OSRel
Page 216 and 217: InstructionISleepRobotWare-OSISleep
Page 218 and 219: InstructionIsPersBase WareIsPers -
Page 220 and 221: InstructionITimerRobotWare-OSITimer
Page 222 and 223: InstructionITimerRobotWare-OSRelate
Page 224 and 225: InstructionIVarValueSensor Interfac
Page 226 and 227: InstructionIVarValueSensor Interfac
Page 228 and 229: InstructionIWatchRobotWare-OSIWatch
Page 230 and 231: InstructionlabelRobotWare-OSlabel -
Page 232 and 233: InstructionLoadRobotWare-OSLoad - L
Page 234 and 235: InstructionLoadRobotWare-OS%”rout
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InstructionLoadIdRobotWare-OSArgume
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InstructionLoadIdRobotWare-OSExampl
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InstructionMakeDirFile and Serial C
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InstructionManLoadIdProcRobotWare-O
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InstructionManLoadIdProcRobotWare-O
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InstructionMechUnitLoadRobotWare-OS
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InstructionMechUnitLoadRobotWare-OS
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InstructionMotionSupCollision Detec
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InstructionMotionSupCollision Detec
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InstructionMoveAbsJRobotWare-OSMove
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InstructionMoveAbsJRobotWare-OS[ \Z
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InstructionMoveAbsJRobotWare-OSSing
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InstructionMoveCRobotWare-OSMoveC -
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InstructionMoveCRobotWare-OS[ \V ]
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InstructionMoveCRobotWare-OSMoveC p
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InstructionMoveCDORobotWare-OSMoveC
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InstructionMoveCDORobotWare-OS.CirP
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InstructionMoveCSyncFixed Position
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InstructionMoveCSyncFixed Position
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InstructionMoveExtJRobotWare-OSMove
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InstructionMoveExtJRobotWare-OSExam
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InstructionMoveJRobotWare-OSMoveJ -
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InstructionMoveJRobotWare-OS[ \WObj
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InstructionMoveJDORobotWare-OSMoveJ
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InstructionMoveJDORobotWare-OSMoveJ
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InstructionMoveJSyncFixed Position
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InstructionMoveJSyncFixed Position
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InstructionMoveLRobotWare-OSMoveL -
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InstructionMoveLRobotWare-OS[ \WObj
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InstructionMoveLRobotWare-OSRelated
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InstructionMoveLDORobotWare-OSMoveL
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InstructionMoveLDORobotWare-OSsigna
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InstructionMoveLSyncFixed Position
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InstructionMoveLSyncFixed Position
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InstructionMToolRotCalibRobotWare-O
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InstructionMToolRotCalibRobotWare-O
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InstructionMToolTCPCalibRobotWare-O
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InstructionMToolTCPCalibRobotWare-O
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InstructionOpenFile and Serial Chan
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InstructionOpenFile and Serial Chan
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InstructionOpenDirFile and Serial C
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InstructionPackDNHeaderFieldbus Com
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InstructionPackDNHeaderFieldbus Com
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InstructionPackRawBytesFile and Ser
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InstructionPathAccLimRobotWare-OSPa
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InstructionPathAccLimRobotWare-OSEx
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InstructionPathRecMoveBwdPath Recov
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InstructionPathRecMoveBwdPath Recov
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InstructionPathRecMoveFwdPath Recov
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InstructionPathRecMoveFwdPath Recov
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InstructionPathRecStartPath Recover
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InstructionPathRecStartPath Recover
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InstructionPathRecStopPath Recovery
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InstructionPathRecStopPath Recovery
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InstructionPathResolRobotWare-OSPat
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InstructionPathResolRobotWare-OSRel
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InstructionPDispOffRobotWare-OSPDis
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InstructionPDispOnRobotWare-OSPDisp
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InstructionPDispOnRobotWare-OSexecu
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InstructionPDispSetRobotWare-OSPDis
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InstructionPDispSetRobotWare-OSRela
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InstructionProcerrRecoveryAdvanced
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InstructionProcCallRobotWare-OSProc
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InstructionPulseDORobotWare-OSPulse
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InstructionPulseDORobotWare-OSLimit
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InstructionRAISERobotWare-OSRAISE -
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InstructionRaiseToUserRobotWare-OSR
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InstructionRaiseToUserRobotWare-OST
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InstructionReadAnyBinFile and Seria
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InstructionReadAnyBinFile and Seria
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InstructionReadBlockSensor Interfac
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InstructionReadCfgDataAdvanced RAPI
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InstructionReadErrDataAdvanced RAPI
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InstructionReadErrDataAdvanced RAPI
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InstructionReadRawBytesFile and Ser
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InstructionReadRawBytesFile and Ser
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InstructionRemoveDirFile and Serial
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InstructionRemoveFileFile and Seria
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InstructionRenameFileFile and Seria
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InstructionResetRobotWare-OSReset -
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InstructionRestoPathPath RecoveryRe
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InstructionRETURNRobotWare-OSRETURN
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InstructionRewindFile and Serial Ch
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InstructionRETRYRobotWare-OSRETRY -
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IndexAacceleration reduction 1, 323
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IndexRemoveDir 391RemoveFile 393rep
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ABB Automation Technologies ABRobot
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