ABB IRB 6400R Product On-Line Manual page 113

Analog inputs (cont.)
Voltage
Current
RAPID instructions included in this option
ArcL
ArcC
Product Specification RobotWare for BaseWare OS 3.2
Description (cont.)
Weld voltage measurement for monitoring and
supervision
Weld current measurement for monitoring and
supervision
Arc welding with linear movement
Arc welding with circular movement
ArcWare 3.2
35