ABB IRB 6400R Product On-Line Manual page 48

Technical specification
Cos
Sin
Tan
EulerZYX
OrientZYX
PoseInv
PoseMult
PoseVect
Round
Trunc
Text strings
NumToStr
StrFind
StrLen
StrMap
StrMatch
StrMemb
StrOrder
StrPart
StrToVal
ValToStr
For more information on the programming language, see RAPID Reference Manual.
Memory
Program memory:
Standard
Extended memory 8 MB
Mass storage
RAM memory Standard
Diskette
1)
Depending on type of instruction.
2)
Some software options reduce the program memory. See Product
Specification RobotWare.
3)
Requires approx. 3 times less space than in the program memory, i.e. 1 MB
mass memory can store 3 MB of RAPID instructions.
Type of diskette: 3.5" 1.44 MB (HD) MS DOS format.
Programs and all user-defined data are stored in ASCII format.
Memory backup
The RAM memory is backed up by two Lithium batteries. Each battery has a
typical capacity of >12 months power off time. A warning is given at power on
when one of the batteries is empty.
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Calculates the cosine value
Calculates the sine value
Calculates the tangent value
Calculates Euler angles from an orientation
Calculates the orientation from Euler angles
Inverts a pose
Multiplies a pose
Multiplies a pose and a vector
Rounds a numeric value
Truncates a numeric value
Converts numeric value to string
Searches for a character in a string
Gets the string length
Maps a string
Searches for a pattern in a string
Checks if a character is a member of a set
Checks if strings are ordered
Gets a part of a string
Converts a string to a numeric value
Converts a value to a string
Memory size
3)
:
Extended 8 MB
Product Specification IRB 6400R M99/BaseWare OS 3.2
Instructions
2)
2.5 MB 7500
2)
6.0 MB 18000
0.5 MB 3000
4.0 MB 31000
1.44 MB 15000
1)