RAPID reference manual - Technology

InstructionISignalDORobotWare-OSISignalDO - Interrupts from a digital output signalISignalDO (Interrupt Signal Digital Out) is used to order and enable interrupts from adigital output signal.ExamplesVAR intnum sig1int;CONNECT sig1int WITH iroutine1;ISignalDO do1,1,sig1int;Orders an interrupt which is to occur each time the digital output signal do1 isset to 1. A call is then made to the iroutine1 trap routine.ISignalDO do1,0,sig1int;Orders an interrupt which is to occur each time the digital output signal do1 isset to 0.ISignalDO\Single, do1,1,sig1int;Orders an interrupt which is to occur only the first time the digital output signaldo1 is set to 1.ArgumentsISignalDO[ \Single ] Signal TriggValue Interrupt[ \Single ] Data type: switchSpecifies whether the interrupt is to occur once or cyclically.If the argument Single is set, the interrupt occurs once at the most. If the argumentis omitted, an interrupt will occur each time its condition is satisfied.SignalData type: signaldoThe name of the signal that is to generate interrupts.RAPID reference manual - part 1a, Instructions A-R 197