Technical specification
Product Specification IRB 6400R M99/BaseWare OS 3.2
37
DInput
Reads the value of a digital input signal
DOutput
Reads the value of a digital output signal
GInput
Reads the value of a group of digital input signals
GOutput
Reads the value of a group of digital output signals
TestDI
Tests if a digital input signal is set
IODisable
Disables an I/O module
IOEnable
Enables an I/O module
Interrupts
ISignalDI
Orders interrupts from a digital input signal
ISignalDO
Orders interrupts from a digital output signal
ITimer
Orders a timed interrupt
IDelete
Cancels an interrupt
ISleep
Deactivates an interrupt
IWatch
Activates an interrupt
IDisable
Disables interrupts
IEnable
Enables interrupts
CONNECT
Connects an interrupt to a trap routine
Error Recovery
EXIT
Terminates program execution
RAISE
Calls an error handler
RETRY
Restarts following an error
TRYNEXT
Skips the instruction that has caused the error
RETURN
Returns to the routine that called the current routine
Communication
TPErase
Erases text printed on the teach pendant
TPWrite
Writes on the teach pendant
TPReadFK
Reads function keys
TPReadNum
Reads a number from the teach pendant
ErrWrite
Stores an error message in the error log
System & Time
ClkReset
Resets a clock used for timing
ClkStart
Starts a clock used for timing
ClkStop
Stops a clock used for timing
ClkRead
Reads a clock used for timing
CDate
Reads the current date as a string
CTime
Reads the current time as a string
GetTime
Gets the current time as a numeric value
Mathematics
Add
Adds a numeric value
Clear
Clears the value
Decr
Decrements by 1
Incr
Increments by 1
Abs
Calculates the absolute value
Sqrt
Calculates the square root
Exp
Calculates the exponential value with the base “e”
Pow
Calculates the exponential value with an arbitrary base
ACos
Calculates the arc cosine value
ASin
Calculates the arc sine value
ATan/ATan2
Calculates the arc tangent value
Summary of Contents for IRB 6400R
Page 4: ...Description 20 Product Specification IRB 1400 M97A BaseWare OS 3 0 ...
Page 6: ...Introduction 2 Product Manual ...
Page 10: ...Introduction 6 Product Manual ...
Page 12: ...Product Specification IRB 6400R 2 Product Specification IRB 6400R M99 BaseWare OS 3 2 ...
Page 78: ...Accessories 68 Product Specification IRB 6400R M99 BaseWare OS 3 2 ...
Page 80: ...Product Specification RobotWare 2 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 82: ...Introduction 4 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 104: ...Interbus S 3 2 26 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 110: ...I O Plus 3 2 32 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 128: ...PalletWare 50 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 132: ...Safety 2 Product Manual ...
Page 148: ...System Description CONTENTS Page 2 Product Manual ...
Page 158: ...Structure System Description 12 Product Manual ...
Page 160: ...Computer System System Description 14 Product Manual ...
Page 164: ...I O System System Description 18 Product Manual ...
Page 168: ...Safety System System Description 22 Product Manual ...
Page 170: ...External Axes System Description 24 Product Manual ...
Page 174: ...Installation and Commissioning CONTENTS Page 4 Product Manual IRB 6400R ...
Page 196: ...On Site Installation Installation and Commissioning 26 Product Manual IRB 6400R ...
Page 270: ...Installing the Control Program Installation and Commissioning 100 Product Manual IRB 6400R ...
Page 292: ...Maintenance CONTENTS Page 2 Product Manual IRB 6400R ...
Page 299: ...Maintenance Product Manual IRB 6400R 9 Figure 4 Lubricating gearbox axis 1 4 3 1 2 ...
Page 312: ...Troubleshooting Tools CONTENTS Page 2 Product Manual ...
Page 350: ...Troubleshooting Tools 40 Product Manual ...
Page 352: ...Fault tracing guide 2 Product Manual ...
Page 362: ...Fault tracing guide 12 Product Manual ...
Page 375: ...Motor units Repairs 12 Product Manual IRB 6400R ...
Page 401: ...Arm System Repairs 38 Product Manual IRB 6400R ...
Page 409: ...Cabling Repairs 46 Product Manual IRB 6400R ...
Page 441: ...Special Tools List Repairs 80 Product Manual IRB 6400R ...
Page 479: ...Part List and Spare Parts Product Manual IRB 6400R 38 ...
Page 480: ...Part List and Spare Parts Product Manual IRB 6400R 39 ...
Page 481: ...Part List and Spare Parts Product Manual IRB 6400R 40 ...