Introduction To Robot Reference Interface - ABB IRC5 Applications Manual

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1 Introduction to Robot Reference Interface

Introduction

Robot Reference Interface is an option, supporting data exchange on the cyclic

channel. It provides the possibility to periodically send planned and actual robot

position data from the robot controller, as well as the exchange of other RAPID

variables from and to the robot controller. The message contents are represented

in XML format and are configured using appropriate sensor configuration files.

Robot Reference Interface

The cyclic communication channel (TCP or UDP) can be executed in the high-priority

network environment of the IRC5 Controller which ensures a stable data exchange

up to 250Hz.

xx0800000128

3HAC031973-001 Revision: F

Robot

Rapid data

Cabinet status

Motion data

1 Introduction to Robot Reference Interface

RRI

Cyclic channel (TCP or UDP)

read/write

read only

Sensor

Receive commands,

parameters and

robot data

Return parameters

and sensor data

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