ABB IRB 6400R Product On-Line Manual page 47

DInput
DOutput
GInput
GOutput
TestDI
IODisable
IOEnable
Interrupts
ISignalDI
ISignalDO
ITimer
IDelete
ISleep
IWatch
IDisable
IEnable
CONNECT
Error Recovery
EXIT
RAISE
RETRY
TRYNEXT
RETURN
Communication
TPErase
TPWrite
TPReadFK
TPReadNum
ErrWrite
System & Time
ClkReset
ClkStart
ClkStop
ClkRead
CDate
CTime
GetTime
Mathematics
Add
Clear
Decr
Incr
Abs
Sqrt
Exp
Pow
ACos
ASin
ATan/ATan2
Product Specification IRB 6400R M99/BaseWare OS 3.2
Reads the value of a digital input signal
Reads the value of a digital output signal
Reads the value of a group of digital input signals
Reads the value of a group of digital output signals
Tests if a digital input signal is set
Disables an I/O module
Enables an I/O module
Orders interrupts from a digital input signal
Orders interrupts from a digital output signal
Orders a timed interrupt
Cancels an interrupt
Deactivates an interrupt
Activates an interrupt
Disables interrupts
Enables interrupts
Connects an interrupt to a trap routine
Terminates program execution
Calls an error handler
Restarts following an error
Skips the instruction that has caused the error
Returns to the routine that called the current routine
Erases text printed on the teach pendant
Writes on the teach pendant
Reads function keys
Reads a number from the teach pendant
Stores an error message in the error log
Resets a clock used for timing
Starts a clock used for timing
Stops a clock used for timing
Reads a clock used for timing
Reads the current date as a string
Reads the current time as a string
Gets the current time as a numeric value
Adds a numeric value
Clears the value
Decrements by 1
Increments by 1
Calculates the absolute value
Calculates the square root
Calculates the exponential value with the base "e"
Calculates the exponential value with an arbitrary base
Calculates the arc cosine value
Calculates the arc sine value
Calculates the arc tangent value
Technical specification
37