ABB IRB 6400R Product On-Line Manual page 20

Description
Programs, parts of programs and any modifications can be tested immediately without
having to translate (compile) the program.
The program is stored as a normal PC text file, which means that it can be edited using
a standard PC.
Movements
A sequence of movements is programmed as a number of partial movements between
the positions to which you want the robot to move.
The end position of a movement is selected either by manually jogging the robot to the
desired position with the joystick, or by referring to a previously defined position.
The exact position can be defined (see Figure 6) as:
- a stop point, i.e. the gantry robot reaches the programmed position
or
- a fly-by point, i.e. the robot passes close to the programmed position. The size
of the deviation is defined independently for the TCP, the tool orientation and
the external axes.
Stop point
Figure 6 The fly-by point reduces the cycle time since the robot does not have to stop at
The velocity may be specified in the following units:
- mm/s
- seconds (time it takes to reach the next programmed position)
- degrees/s (for reorientation of the tool or for rotation of an external axis)
Program management
For convenience, the programs can be named and stored in different directories.
Areas of the robot's program memory can also be used for program storage. This
provides fast memory for program storage. These can then be automatically
downloaded using a program instruction. The complete program or parts of programs
can be transferred to/from a diskette.
Programs can be printed on a printer connected to the robot, or transferred to a PC
where they can be edited or printed later.
10
Fly-by point
the programmed point. The path is speed independent.
Product Specification IRB 6400R M99/BaseWare OS 3.2
User-definable distance (in mm)