RAPID reference manual - Technology

ISignalDIRobotWare-OSTriggValueData type: dionumInstructionThe value to which the signal must change for an interrupt to occur.The value is specified as 0 or 1 or as a symbolic value (e.g. high/low). The signalis edge-triggered upon changeover to 0 or 1.TriggValue 2 or symbolic value edge can be used for generation of interrupts onboth positive flank (0 -> 1) and negative flank (1 -> 0).InterruptData type: intnumThe interrupt identity. This should have previously been connected to a trap routineby means of the instruction CONNECT.Program executionWhen the signal assumes the specified value, a call is made to the corresponding traproutine. When this has been executed, program execution continues from where theinterrupt occurred.If the signal changes to the specified value before the interrupt is ordered, no interruptoccurs (see Figure 9).:1Signal level0Interrupt orderedInterrupt occursInterrupt ordered1Signal level0Interrupt occursFigure 9 Interrupts from a digital input signal at signal level 1.194 RAPID reference manual - part 1a, Instructions A-R