Overview Of This Manual - ABB IRC5 Applications Manual

Overview of this manual

About this manual
This manual explains the basics of how and when to use the RobotWare option
Robot Reference Interface.
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
information regarding syntax for RAPID routines and configuration of system
parameters is not described here, but can be found in the respective reference
manual.
Who should read this manual?
This manual is mainly intended for robot programmers.
Prerequisites
The reader should be:
References
Reference
Operating manual - General safety information
Technical reference manual - RAPID Instructions, Functions and Data
types
Operating manual - RobotStudio
Sample code available on www.abb.com/robotics (ABB Library)
Revisions
Revision
-
A
B
C
3HAC031973-001 Revision: F
• Familiar with industrial robots and their terminology.
• Familiar with the RAPID programming language.
• Familiar with RobotStudio and how to work with system parameters.
Description
First edition
Released with RobotWare 5.12. Minor corrections.
SiConnect has a new switch \NoStop.
Updates in sensor.
SiTool and SiWobj are no longer needed for calculations. Current tool
and workobject are used instead.
Released with RobotWare 5.14.
The following updates are made:
• The correct unit for robot joints is radians, see
tion on page
• Corrected code in examples, see
Correction of connections in
page 15.
© Copyright 2008-2009,2013 ABB. All rights reserved.
Overview of this manual
28.
Example configuration on page
Connecting the communication cable on
Document ID
3HAC031045-001
3HAC16581-1
3HAC032104-001
Example configura-
28.
Continues on next page
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