RAPID reference manual - Technology

InstructionIWatchRobotWare-OSIWatch - Activates an interruptIWatch (Interrupt Watch) is used to activate an interrupt which was previously orderedbut was deactivated with ISleep.ExampleIWatch sig1int;The interrupt sig1int that was previously deactivated is activated.ArgumentsIWatchInterruptInterruptData type: intnumVariable (interrupt identity) of the interrupt.Program executionRe-activates interrupts of the specified type once again. However, interrupts generatedduring the time the ISleep instruction was in effect, are ignored.ExampleVAR intnum sig1int;CONNECT sig1int WITH iroutine1;ISignalDI di1,1,sig1int;.ISleep sig1int;weldpart1;IWatch sig1int;During execution of the weldpart1 routine, no interrupts are permitted from thesignal di1.Error handlingInterrupts which have not been ordered are not permitted. If the interrupt number isunknown, the system variable ERRNO is set to ERR_UNKINO (see “Date types - errnum”).The error can be handled in the error handler.RAPID reference manual - part 1a, Instructions A-R 221