3HAC050798-en Controller software IRC5.pdf

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Application manual
Controller software IRC5
Trace back information:
Workspace R16-2 version a5
Checked in 2016-09-08
Skribenta version 4.6.318
Application manual
Controller software IRC5
RobotWare 6.04
Document ID: 3HAC050798-001
Revision: D
© Copyright 2016 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Additional copies of this manual may be obtained from ABB.
The original language for this publication is English. Any other languages that are
supplied have been translated from English.
© Copyright 2016 ABB. All rights reserved.
ABB AB
Robotics Products
Se-721 68 Västerås
Sweden
Table of contents
Table of contents
Overview of this manual ................................................................................................................... 13
1
2
Introduction to RobotWare
RobotWare-OS
2.1
Advanced RAPID ..............................................................................................
2.1.1 Introduction to Advanced RAPID ................................................................
2.1.2 Bit functionality .......................................................................................
2.1.2.1 Overview ...................................................................................
2.1.2.2 RAPID components ......................................................................
2.1.2.3 Bit functionality example ...............................................................
2.1.3 Data search functionality ..........................................................................
2.1.3.1 Overview ...................................................................................
2.1.3.2 RAPID components ......................................................................
2.1.3.3 Data search functionality examples .................................................
2.1.4 Alias I/O signals ......................................................................................
2.1.4.1 Overview ...................................................................................
2.1.4.2 RAPID components ......................................................................
2.1.4.3 Alias I/O functionality example .......................................................
2.1.5 Configuration functionality ........................................................................
2.1.5.1 Overview ...................................................................................
2.1.5.2 RAPID components ......................................................................
2.1.5.3 Configuration functionality example ................................................
2.1.6 Power failure functionality .........................................................................
2.1.6.1 Overview ...................................................................................
2.1.6.2 RAPID components and system parameters .....................................
2.1.6.3 Power failure functionality example .................................................
2.1.7 Process support functionality ....................................................................
2.1.7.1 Overview ...................................................................................
2.1.7.2 RAPID components ......................................................................
2.1.7.3 Process support functionality examples ...........................................
2.1.8 Interrupt functionality ...............................................................................
2.1.8.1 Overview ...................................................................................
2.1.8.2 RAPID components ......................................................................
2.1.8.3 Interrupt functionality examples .....................................................
2.1.9 User message functionality .......................................................................
2.1.9.1 Overview ...................................................................................
2.1.9.2 RAPID components ......................................................................
2.1.9.3 User message functionality examples ..............................................
2.1.9.4 Text table files ............................................................................
2.1.10 RAPID support functionality ......................................................................
2.1.10.1 Overview ...................................................................................
2.1.10.2 RAPID components ......................................................................
2.1.10.3 RAPID support functionality examples .............................................
Analog Signal Interrupt .......................................................................................
2.2.1 Introduction to Analog Signal Interrupt ........................................................
2.2.2 RAPID components .................................................................................
2.2.3 Code example ........................................................................................
Auto Acknowledge Input .....................................................................................
Cyclic bool .......................................................................................................
2.4.1 Cyclically evaluated logical conditions ........................................................
2.4.2 Cyclic bool examples ...............................................................................
2.4.3 System parameters .................................................................................
2.4.4 RAPID components .................................................................................
Electronically Linked Motors ................................................................................
2.5.1 Overview ...............................................................................................
15
17
17
17
18
18
19
20
21
21
22
23
24
24
25
26
27
27
28
29
30
30
31
32
33
33
34
35
37
37
38
39
40
40
41
42
44
45
45
46
47
48
48
49
50
51
52
52
54
57
58
59
59
2.2
2.3
2.4
2.5
Application manual - Controller software IRC5
3HAC050798-001 Revision: D
© Copyright 2016 ABB. All rights reserved.
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