RAPID reference manual - Technology

InstructionISignalDORobotWare-OSLimitationsThe same variable for interrupt identity cannot be used more than once, without firstdeleting it. Interrupts should therefore be handled as shown in one of the alternativesbelow.VAR intnum sig1int;PROC main ( )CONNECT sig1int WITH iroutine1;ISignalDO do1, 1, sig1int;WHILE TRUE DO::ENDWHILEENDPROCAll activation of interrupts is done at the beginning of the program. Theseinstructions are then kept outside the main flow of the program.PROC main ( )VAR intnum sig1int;CONNECT sig1int WITH iroutine1;ISignalDO do1, 1, sig1int;::IDelete sig1int;ENDPROCThe interrupt is deleted at the end of the program, and is then reactivated. Itshould be noted, in this case, that the interrupt is inactive for a short period.SyntaxISignalDO [ ’\’ Single’,’][ Signal ’:=’ ] < variable (VAR) of signaldo > ’,’[ TriggValue ’:=’ ] < expression (IN) of dionum >’,’[ Interrupt ’:=’ ] < variable (VAR) of intnum > ’;’RAPID reference manual - part 1a, Instructions A-R 199