ABB IRB 6400R Product On-Line Manual page 93

RAPID instructions and functions included in this option
Open
Close
Write
WriteBin
WriteStrBin
ReadNum
ReadStr
ReadBin
Rewind
WriteAnyBin
ReadAnyBin
ReadStrBin
ClearIOBuff
WZBoxDef
WZCylDef
WZLimSup
WZSphDef
WZDOSet
WZDisable
WZEnable
WZFree
StorePath
RestoPath
TriggC
TriggL
TriggJ
TriggIO
TriggEquip
TriggInt
MoveCSync
MoveLSync
MoveJSync
ISignalAI
ISignalAO
Product Specification RobotWare for BaseWare OS 3.2
Opens a file or serial channel
Closes a file or serial channel
Writes to a character-based file or serial channel
Writes to a binary file or serial channel
Writes a string to a binary serial channel
Reads a number from a file or serial channel
Reads a string from a file or serial channel
Reads from a binary file or serial channel
Rewind file position
Write data to a binary serial channel or file
Read data from a binary serial channel or file
Read a string from a binary serial channel or file
Clear input buffer of a serial channel
Define a box shaped world zone
Define a cylinder shaped world zone
Activate world zone limit supervision
Define a sphere shaped world zone
Activate world zone to set digital output
Deactivate world zone supervision
Activate world zone supervision
Erase world zone supervision
Stores the path when an interrupt or error occurs
Restores the path after an interrupt/error
Position fix output/interrupt during circular movement
Position fix output/interrupt during linear movement
Position fix output/interrupt during joint movement
Definition of trigger conditions for one output
Definition of trigger conditions for process equipment with
time delay
Definition of trigger conditions for an interrupt
Position fix procedure call during circular movement
Position fix procedure call during linear movement
Position fix procedure call during join movement
Interrupts from analog input signal
Interrupts from analog output signal
Advanced Functions 3.2
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