ABB IRB 6400R Product On-Line Manual page 46

Technical specification
WHILE
Stop
EXIT
Break
Motion settings
AccSet
ConfJ
ConfL
VelSet
GripLoad
SingArea
PDispOn
PDispSet
DefFrame
DefDFrame
EOffsOn
EOffsSet
ORobT
SoftAct
TuneServo
Motion
MoveC
MoveJ
MoveL
MoveAbsJ
MoveXDO
SearchC
SearchL
ActUnit
DeactUnit
Offs
RelTool
MirPos
CRobT
CJointT
CPos
CTool
CWObj
StopMove
StartMove
Input and output signals
InvertDO
PulseDO
Reset
Set
SetAO
SetDO
SetGO
WaitDI
WaitDO
AInput
36
Repeats as long as ...
Stops execution
Stops execution when a restart is not allowed
Stops execution temporarily
Reduces the acceleration
Controls the robot configuration during joint movement
Monitors the robot configuration during linear movement
Changes the programmed velocity
Defines the payload
Defines the interpolation method used through singular points
Activates program displacement
Activates program displacement by specifying a value
Defines a program displacement automatically
Defines a displacement frame
Activates an offset for an external axis
Activates an offset for an external axis using a value
Removes a program displacement from a position
Activates soft servo for a robot axis
Tunes the servo
Moves the TCP circularly
Moves the robot by joint movement
Moves the TCP linearly
Moves the robot to an absolute joint position
Moves the robot and set an output in the end position
Searches during circular movement
Searches during linear movement
Activates an external mechanical unit
Deactivates an external mechanical unit
Displaces a position
Displaces a position expressed in the tool coordinate system
Mirrors a position
Reads current robot position (the complete robtarget)
Reads the current joint angles
Reads the current position (pos data)
Reads the current tool data
Reads the current work object data
Stops robot motion
Restarts robot motion
Inverts the value of a digital output signal
Generates a pulse on a digital output signal
Sets a digital output signal to 0
Sets a digital output signal to 1
Sets the value of an analog output signal
Sets the value of a digital output signal after a defined time
Sets the value of a group of digital output signals
Waits until a digital input is set
Waits until a digital output is set
Reads the value of an analog input signal
Product Specification IRB 6400R M99/BaseWare OS 3.2