ABB IRB 6400R Product On-Line Manual page 90

Advanced Functions 3.2
Data transfer via files
Data in the form of character strings, numerical values or binary information can be
written to or read from files on a diskette or other type of mass storage/memory.
Examples of applications:
- Storing production statistics on a diskette or ramdisk. This information can then
be read and processed by an ordinary PC.
- The robot's production is controlled by a file. This file may have been created
in a PC, stored on a diskette, and read by the robot at a later time.
Fixed position output
The value of an output (digital, analog or a group of digitals) can be ordered to change
at a certain distance before or after a programmed position. The output will then change
at the same place every time, irrespective of the robot's speed.
Consideration can also be given to time delays in the process equipment. By specifying
this time delay (max. 500 ms), the output is set at the corresponding time before the
robot reaches the specified position.
The distance can also be specified as a certain time before the programmed position.
This time must be within the deceleration time when approaching that position.
Examples of applications:
- Handling press work, to provide a safe signalling system between the robot and
the press, which will reduce cycle times. Just as the robot leaves the press, an
output is set that starts the press.
- Starting and finishing process equipment. When using this function, the start
will always occur at the same position irrespective of the speed. For gluing and
sealing, see GlueWare.
Fixed position procedure call
A procedure call can be carried out when the robot passes the middle of a corner zone.
The position will remain the same, irrespective of the robot's speed.
Example of application:
- In the press example above, it may be necessary to check a number of logical
conditions before setting the output that starts the press. A procedure which
takes care of the complete press start operation is called at a position just outside
the press.
12 Product Specification RobotWare for BaseWare OS 3.2