DescriptionRevision
Released with RobotWare 6.03.
• Minor corrections
• Value in Coll-Pred Safety Distance on page 60 changed from 0.001 to
0.01.
• The predefined signal Collision_Avoidance is added.
• Added information to section Collision avoidance on page 39.
• Added section Lead-through on page 36.
• Applicable ESD-standards added.
A
Released with RobotWare 6.04.
• The RAPID instruction ContactL has been moved from this manual.
It is now described in Technical reference manual - RAPID Instructions,
Functions and Data types.
• Value in Arm Check Point Speed Limit on page 62 changed from 1.0
to 0.75.
• Added Programming Move-instructions on page 42.
• Added the system parameter Limit avoidance distance on page 65.
• Minor corrections.
B
Released with RobotWare 6.05.
• Added the new section Collision on page 41.
• Added the new parameter Friction compensation lead through factor
on page 67.
• Updated the parameter Collision Detection Memory on page 66.
• Updated descriptions of stops in section Protective stop and emergency
stop on page 22.
C
Released with RobotWare 6.06.
• Updated the section Collision Detection Memory on page 66.
D
Released with RobotWare 6.07.
• Updated the system parameter Connection Timeout Multiplier on
page 59.
• Updated the Limitations section of the system parameter Arm-Angle
Definition on page 63.
• Safety section restructured.
E
8 Operating manual - IRB 14000
3HAC052986-001 Revision: E
© Copyright 2015-2018 ABB. All rights reserved.
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