ABB IRB 6400R - Accessories

Product Specification RobotWare
CONTENTS
Page
Product Specification RobotWare for BaseWare OS 3.2 2
1 Introduction..................................................................................................................... 3
2 BaseWare OS................................................................................................................... 5
2.1 The Rapid Language and Environment.................................................................. 5
2.2 Exception handling................................................................................................. 6
2.3 Motion Control....................................................................................................... 7
2.4 Safety...................................................................................................................... 9
2.5 I/O System.............................................................................................................. 10
3 BaseWare Options........................................................................................................... 11
3.1 Advanced Functions 3.2 ......................................................................................... 11
3.2 Advanced Motion 3.2 ............................................................................................. 16
3.3 Multitasking............................................................................................................ 19
3.4 FactoryWare Interface 3.2 ...................................................................................... 20
3.5 RAP Communication 3.2........................................................................................ 22
3.6 Ethernet Services 3.2.............................................................................................. 23
3.7 Profibus DP 3.2....................................................................................................... 24
3.8 Interbus-S 3.2.......................................................................................................... 25
3.9 Load Identification and Collision Detection 3.2 (LidCode)................................... 27
3.10 ScreenViewer 3.2.................................................................................................. 28
3.11 Conveyor Tracking 3.2 ......................................................................................... 30
3.12 I/O Plus 3.2........................................................................................................... 31
4 ProcessWare..................................................................................................................... 33
4.1 ArcWare 3.2............................................................................................................ 33
4.2 ArcWare Plus 3.2.................................................................................................... 36
4.3 SpotWare 3.2........................................................................................................... 37
4.4 SpotWare Plus 3.2................................................................................................... 41
4.5 GlueWare 3.2.......................................................................................................... 42
4.6 DispenseWare 3.2 ................................................................................................... 44
4.7 PaintWare 3.2.......................................................................................................... 45
4.8 PalletWare............................................................................................................... 47
5 Memory and Documentation ......................................................................................... 51
5.1 Available memory................................................................................................... 51
5.2 Teach Pendant Language........................................................................................ 52
5.3 Robot Documentation............................................................................................. 52
6 Index................................................................................................................................. 53