Supported Data Types - ABB IRC5 Applications Manual

2 Installation

2.4 Supported data types

2.4 Supported data types
Overview
This section contains a short description of the Robot Reference Interface supported
data types, for more detailed information about the supported data types see
References on page
Data types
Robot Reference Interface supports the following simple data types:
Data type
bool
real
time
string
frame
joints
In addition, user-defined records can also be transferred from the external system
to the robot controller, which are composed from the supported simple data types.
User defined record types must be specified in the configuration file of the external
device. See
user-defined record types.
18
7.
Description
Boolean value.
Single precision, floating point value.
Time in seconds expressed as floating point value.
String with max length of 80 characters.
Cartesian position and orientation in Euler Angles
(Roll-Pitch-Jaw).
Robot joint values.
Device configuration on page 24
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RAPID type mapping
bool
num
num
string
pose
robjoint
for a description on how to create
3HAC031973-001 Revision: F