Technical specification
Product Specification IRB 4400 M98A/BaseWare OS 3.2 39
Tan Calculates the tangent value
EulerZYX Calculates Euler angles from an orientation
OrientZYX Calculates the orientation from Euler angles
PoseInv Inverts a pose
PoseMult Multiplies a pose
PoseVect Multiplies a pose and a vector
Round Rounds a numeric value
Trunc Truncates a numeric value
Text strings
NumToStr Converts numeric value to string
StrFind Searches for a character in a string
StrLen Gets the string length
StrMap Maps a string
StrMatch Searches for a pattern in a string
StrMemb Checks if a character is a member of a set
StrOrder Checks if strings are ordered
StrPart Gets a part of a string
StrToVal Converts a string to a numeric value
ValToStr Converts a value to a string
For more information on the programming language, see RAPID Reference Manual.
Memory
Memory size Instructions
1)
Program memory:
Standard 2.5 MB
2)
7500
Extended memory 8 MB 6.0 MB
2)
18000
Mass storage
3)
:
RAM memory Standard 0.5 MB 3000
Extended 8 MB 4 MB 31000
Diskette 1.44 MB 15000
1)
Depending on type of instruction.
2)
Some software options reduce the program memory. See Product
Specification RobotWare.
3)
Requires approx. 3 times less space than in the program memory, i.e. 1 MB
mass memory can store 3 MB of RAPID instructions.
Type of diskette: 3.5” 1.44 MB (HD) MS DOS format.
Programs and all user-defined data are stored in ASCII format.
Memory backup
The RAM memory is backed up by two Lithium batteries. Each battery has a
typical capacity of >12 months power off time. A warning is given at power on
when one of the batteries is empty.
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