ABB IRB 6650 - 125/3.2 - Page 195

[569] DispenseWare
52 Product Specification RobotWare Options for BaseWare OS 4.0
The gluing process is specified by:
- Bead specific dispensing data. See Data types - beaddata.
- Equipment specific dispensing data. See Data types - equipdata.
- RAPID routines and global data for customizing purposes. See Predefined Data
and Programs - System Module DPUSER.
- The I/O configuration. See System Parameters - DispenseWare
Dispensing instructions
Instruction Used to:
DispL Move the TCP along a linear path and perform dispensing with
the given data
DispC Move the TCP along a circular path and perform dispensing
with the given data
Dispensing data
Data type
Used to define:
beaddata Dispensing data for the different beads.
equipdata Dispensing data for the equipment in use.