ABB IRB 6400R Product On-Line Manual page 121

Interface signals
When installed, the following process signals are handled automatically by GlueWare.
Analog outputs
gun1 flow1
gun1 flow 2
gun2 flow1
gun2 flow 2
Digital outputs
gun 1 on/off
gun 2 on/off
overspeed error
process error
User defined routines
The following routines are predefined but can be adapted to suit the current installation.
Routine
preglue actions
postglue actions
power on action
restart action
stop action
emergency stop action
The option Advanced functions is included.
RAPID instructions included in this option
GlueL
GlueC
Product Specification RobotWare for BaseWare OS 3.2
Description
Glue flow reference gun 1
Glue flow reference gun 1
Glue flow reference gun 2
Glue flow reference gun 2
Description
glue off/on gun1
glue off/on gun 2
the calculated value of an analog output signal is
greater than its logical max. value
error during gluing
Description
activity to be carried out in the beginning of the
glue string
activity to be carried out at the end of the
glue string
activity to be carried out at power-on
activity to be carried out at program start
activity to be carried out at program stop
activity to be carried out in the event of an
emergency stop or other safeguarded space stop
Gluing with linear movement
Gluing with circular movement
GlueWare 3.2
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