ABB IRB 6650 - 125/3.2 - Page 87

Product Specification S4Cplus
CONTENTS
Page
Product Specification S4Cplus M2000/BaseWare OS 4.0 1
1 Description....................................................................................................................... 3
1.1 Structure..................................................................................................................3
1.2 Safety/Standards..................................................................................................... 5
1.3 Operation ................................................................................................................ 7
Operator’s panel..................................................................................................... 9
1.4 Memory .................................................................................................................. 11
Available memory.................................................................................................. 11
1.5 Installation .............................................................................................................. 12
Operating requirements.......................................................................................... 12
Power supply.......................................................................................................... 12
Configuration ......................................................................................................... 13
1.6 Programming .......................................................................................................... 13
Movements............................................................................................................. 14
Program management ............................................................................................ 14
Editing programs.................................................................................................... 15
Testing programs.................................................................................................... 15
1.7 Automatic Operation .............................................................................................. 15
1.8 The RAPID Language and Environment................................................................ 16
1.9 Exception handling................................................................................................. 17
1.10 Maintenance and Troubleshooting ....................................................................... 17
1.11 Robot Motion........................................................................................................ 18
Motion concepts..................................................................................................... 18
Coordinate systems ................................................................................................ 18
Stationary TCP....................................................................................................... 20
Program execution ................................................................................................. 20
Jogging................................................................................................................... 20
Singularity handling............................................................................................... 20
Motion Supervision................................................................................................ 20
External axes.......................................................................................................... 21
Big Inertia .............................................................................................................. 21
Soft Servo............................................................................................................... 21
1.12 External Axes ....................................................................................................... 21
1.13 I/O System............................................................................................................ 23
Types of connection ............................................................................................... 24
ABB I/O units (node types) ................................................................................... 24
Distributed I/O ....................................................................................................... 25
Signal data.............................................................................................................. 26