Document Name stringclasses 11
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ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 67 | The spare part kit connection box complete contains:
Note
Qty.
Description
Pos
1
Connection box FS130
2
1
Cover box FS130
3
1
Connector bracket MP
4
1
Connector bracket 9p Dsub
5
Nitrile Rubber D119x3
2
O-ring
6
Steel 8.8-A2F M6x16
7
Torx pan head screw
7
Steel 8.8-A2F M5x12
4
Torx pan head screw
8
Color depends on whi... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 68 | 3.6 Motor unit for MID 1.2
Motor units for MID 1.2
Components valid from these serial numbers, onwards:
SEROP: POF-110001 -
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
Graphite... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 69 | CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
Graphite White
1
Spare part kit connection
box, complete
3HAC038209-003
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-005
Spare part kit con... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 70 | Spare part kit connection boxes - Valid for all serial numbers of the positioner:
![Image]
2
3
4
5
6
7
8
6
xx1400002556
The spare part kit connection box complete, contains:
Note
Description
Qty.
Pos
Connection box FS130
1
2
Cover box FS130
1
3
Connector bracket MP
1
4
Connector bracket 9p Dsub
1
5
Nitrile Rubber D119x... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 71 | 3.7 Motor unit for MID 2.1-2.2
Motor units for MID 2.1 - 2.2
Components valid from these serial numbers, onwards:
SEROP: POF-110001 -
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complet... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 72 | Spare part kit connection box, complete - Components valid from these serial numbers, onwards:
SEROP: - POF-110001
CNAUS: - POF-510001
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
Graphite White
1
Spare part kit connection
... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 73 | Spare part kit connection boxcomplete - Valid for all serial numbers of the positioner:
![Image]
2
3
4
5
6
7
8
6
xx1400002556
The spare part kit connection box complete, contains:
Note
Description
Qty.
Pos
Connection box FS130
1
2
Cover box FS130
1
3
Connector bracket MP
1
4
Connector bracket 9p Dsub
1
5
Nitrile Rubber... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 74 | 4 Electrical spare parts
4.1 External connectors
4.1.1 Spare parts, cables
Spare parts, floor cables
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000245
Note
Length
Spare part
Des... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 75 | Note
Length
Spare part
Description
Pos
Not for positioner L
7
3HAC035346-001
Cable motor positioner
2
10
3HAC035346-002
15
3HAC035346-003
22
3HAC035346-006
30
3HAC035346-007
7
418620884
Return Cable 95mm 2 , 2x OKC
5
10
418620885
Return Cable 95mm 2 , 2x OKC
15
418620887
Return Cable 95mm 2 , 2x OKC
7
504540880
Return ... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 76 | 4.2 Internal connectors
4.2.1 Cable harnesses
Overview
![Image]
xx1000000281
Current collector cable
1
Cable harness on page 76
2
Cable limit switch on page 79
3
Cable slipring (option) on page 81
4
Continues on next page
Product manual, spare parts - IRBP /D2009
75
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB.... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 77 | Cable harness
Note
These cables are valid with SMB box 3HAC046493-001 and 3HAC046492-001,
see Spare part list SMB box 3HAC046493-001 on page 83 .
xx1000000279
Note
Description
Spare part
Pos.
Length=0.8 m
Cable harness MTD, Complete
3HAC035219-001
1
Length=1.1 m
Cable harness MTD, Complete
3HAC035219-002
1
Length=2.2 ... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 78 | 3
xx1700000381
Note
Description
Spare part
Pos.
Length=7 m
Cable harness motor/resolver (Type L only)
3HAC035347-001
3
Length=10 m
Cable harness motor/resolver (Type L only)
3HAC035347-002
Length=15 m
Cable harness motor/resolver (Type L only)
3HAC035347-003
Length=22 m
Cable harness motor/resolver (Type L only)
3HAC03... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 79 | Cable harness
Note
These cables are valid with SMB box 3HAC061824-003 and 3HAC061824-004,
see Spare part list SMB box 3HAC061824-00X on page 84 .
2
1
xx1700000352
Note
Description
Spare part
Pos.
Length=1.1 m
Cable harness MTD, Complete
3HAC060343-002
1
Length=2.2 m
Cable harness MTD, Complete
3HAC060343-003
1
Length=... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 80 | 3
xx1700000382
Note
Description
Spare part
Pos.
Length=7 m
Cable harness motor/resolver (Type L only)
3HAC061402-001
3
Length=10 m
Cable harness motor/resolver (Type L only)
3HAC061402-002
Length=15 m
Cable harness motor/resolver (Type L only)
3HAC061402-003
Length=22 m
Cable harness motor/resolver (Type L only)
3HAC06... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 81 | Note
Description
Spare part
Pos.
L=1.0 m
Cable Limit Switch Complete
3HAC035494-001
1
Continues on next page
80
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
Cable slipring (option)
xx1000000... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 82 | Cable slipring (option)
xx1000000290
Note
Description
Spare part
Pos.
L=0.8m
Cable slipring WCP1/WCP2
3HAC035339-001
1
Continues on next page
Product manual, spare parts - IRBP /D2009
81
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 83 | Note
Description
Spare part
Pos.
L=2.6m
Cable slipring WCP1/WCP2
3HAC035339-002
1
L=3.2m
Cable slipring WCP1/WCP2
3HAC035339-003
1
L=3.7m
Cable slipring WCP1/WCP2
3HAC035339-004
1
L=2m
Cable WCP3/WCP4
3HAC035708-001
2
L=3.7m
Cable WCP3/WCP4
3HAC035708-002
2
L=0.8m
Cable WCS1/WCS2
3HAC035370-001
3
L=2.6m
Cable WCS1/WCS2... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 84 | 4.2.2 Spare part, SMB box
Spare part list SMB box 3HAC046493-001
![Image]
![Image]
5
xx1000000248
Note
Description
Sparepart
Pos.
Not as spare part
SMB box complete, For positioner Type
A/B/C/D/K/R
3HAC046493-001
Not as spare part
SMB box complete For positioner Type L
3HAC046492-001
Not valid for variant positioner Ty... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 85 | Spare part list SMB box 3HAC061824-00X
![Image]
3
4
5
6
2
1
7
xx1700000350
Note
Description
Sparepart
Pos.
Valid for positioner Type
L/K/A/R/C
SMB box complete (3 Nodes)
3HAC061824-003
Valid for positioner Type B/D
SMB box complete (6 Nodes)
3HAC061824-004
SMB unit DSQC633C
3HAC043904-001
1
Battery unit
3HAC044075-001
... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 86 | 4.3 Electrical options
4.3.1 SIB V , spare parts
SIB V types
xx1000000291
Note
Description
Spare parts
Pos
SIB V.Type 3
3HEA504996880
1
SIB V.Type 1
3HEA504994880
2
Continues on next page
Product manual, spare parts - IRBP /D2009
85
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 87 | SIB harness
![Image]
xx1000000292
Note
Description
Spare part
Pos.
Harness Safety B/C/Ci/D/K/R
3HEA802196-001
1
Harness Safety A/L/S
3HEA802195-001
1
Harness SIB A/L/S
3HEA802197-001
1
Harness EPS
3HAC037833-001
2
86
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rig... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 88 | 4.3.2 Spare parts, SIB V option board 1 and 2
Spare part list
![Image]
![Image]
xx1000000260
Note
Description
Spare part
Pos
PreReset
SIB V Option bard 2
3HEA800464-001
1
SIB V Option bard 1
504997880
2
Product manual, spare parts - IRBP /D2009
87
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserve... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 89 | 4.3.3 Spare parts, manual jog L/K/R
Spare parts
![Image]
xx1000000277
Note
Description
Spare parts
Pos
Control Panel Manual Jog
3HAC028129-001
1
Safety Relay RT6 24V DC
3HAC088991-001
2
Cable Manual Jog K/R,DC
3HAC029925-001
3
Harness Manual Jog positioner K/R
3HEA802189-001
4
Harness Manual Jog positioner 2xL
3HAC0374... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 90 | 4.3.4 Spare parts station sync
Cable sync switch
xx1000000294
Note
Description
Spare part
Pos.
Cable Sync switch
3HAC037826-001
1
Cable EPS
3HAC037550-001
2
Product manual, spare parts - IRBP /D2009
89
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.4 Spare parts ... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 91 | 4.3.5 Spare parts, active relay supervision
Harness MI Interface
![Image]
xx1000000296
Dimension
Material, type, etc.
Qty
Description
Component
Item
0.45 m
1
Harness MI Interface
3HAC028483-001
1
90
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 El... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 92 | 5 Controller
5.1 Spare parts, controller
Spare parts, axis selector
xx1000000230
Note
Description
Spare part
Pos
Drive Module I/O RS485
3HEA800439-002
1
(24VDC)
Contactor DILM12-10
3HEA800447-001
2
Auxiliary Contact 1NO/3NC DILA-XHI13
3HEA800447-003
3
(24VDC LED) (1 pcs)
Relay D2.5/5-R121L
3HEA800448-001
4
Harness Posi... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 93 | Additional drives
xx1000000249
Note
Description
Spare part
Pos
DSQC664 HV ADU Drive unit
3HAC030923-001
1
Harness-ADU 24V
3HAC032601-001
2
Harness-MDU/ADU DC-bus
3HAC032612-001
3
Harness-MDU/ADU 24V
3HAC032595-001
4
Ethernet cable straight connection
3HAC024254-007
5
Continues on next page
92
Product manual, spare part... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 94 | Note
Description
Spare part
Pos
Ethernet cable straight connection
3HAC024254-008
6
ELAN EPS unit,DSQC646
3HAC026271-003
7
Harness-Axis board/XS41
3HAC020677-001
8
3-way RJ45 8P/8C Shielded MPK 402
3HEA802183-001
9
Spare parts, ELAN
xx1000000276
Note
Description
Spare parts
Pos
ELAN EPS unit, DSQC646
3HAC026271-003
1
H... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 95 | Spare parts external emergency stop
![Image]
4
1
2
3
xx1000000293
Note
Description
Spare part
Pos
DIL ER-31-G
Relay contactor
193825029
1
ECO30-24V
Relay
193540004
2
TS35
Connection Block
193541001
3
Harness Opt. Ext. Emergency Stop
3HEA800519-001
4
Continues on next page
94
Product manual, spare parts - IRBP /D2009
3H... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 96 | Spare parts cable MS XS41/XS41.2
xx1000000284
Note
Description
Spare parts
Pos
Cable MS XS41/XS41.2
3HEA800461-001
1
1xA/L
Jumper Connector XP41.2
3HAC028434-001
2
Continues on next page
Product manual, spare parts - IRBP /D2009
95
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 97 | Cables axis selector
xx1000000285
Note
Description
Spare parts
Pos
L= 0.1 m
Cable Patch
3HEA802215-001
1
Cable I/O RS485
3HEA802201-001
2
Continues on next page
96
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controlle... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 98 | Harness controller
xx1000000286
Note
Description
Spare part
Pos
L= 0.55m
Harness Drive unit Positioner
3HAC035806-001
1
L= 0.36m
Harness Motor Positioner type A/B/C/Ci/D/K/R
3HAC035551-001
2
L= 0.36m
Harness Motor Positioner type L
3HEA800450-001
2
Cover Hood
3HAC036197-001
3
Product manual, spare parts - IRBP /D2009
9... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 99 | This page is intentionally left blank
6 Safety equipment
6.1 Spare parts, light beam
Spare parts, light beam
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000247
Spare part
Pos
Sender/Receiver, Light Beam
3HAC030116-001
1
Mirror, Light Beam
3HAC030117-001
2
Post, Light Beam
3HA... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 100 | 6 Safety equipment
6.1 Spare parts, light beam
Spare parts, light beam
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000247
Spare part
Pos
Sender/Receiver, Light Beam
3HAC030116-001
1
Mirror, Light Beam
3HAC030117-001
2
Post, Light Beam
3HAC030120-001
3
L=15m
Cable, Light Beam
3... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 101 |
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong... |
ABB_Product_Manual_IRBP_D2009_Spare_Parts | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf | 102 |
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong N... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 1 |
ROBOTICS
Application manual
Controller software IRC5
![Image]
Trace back information:
Workspace Main version a644
Checked in 2025-02-06
Skribenta version 5.6.018 |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 2 | ROBOTICS
Application manual
Controller software IRC5
![Image]
Trace back information:
Workspace Main version a644
Checked in 2025-02-06
Skribenta version 5.6.018
Application manual
Controller software IRC5
RobotWare 6.16
Document ID: 3HAC050798-001
Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Specifica... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 3 | Trace back information:
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Checked in 2025-02-06
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Application manual
Controller software IRC5
RobotWare 6.16
Document ID: 3HAC050798-001
Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
The information in thi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 4 | Application manual
Controller software IRC5
RobotWare 6.16
Document ID: 3HAC050798-001
Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 5 | 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 war... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 6 | Table of contents
11
Overview of this manual ...................................................................................................................
15
Open source and 3rd party components .........................................................................................
17
1
Introduction to RobotWar... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 7 | 65
2.4
Electronically Linked Motors ................................................................................
65
2.4.1
Overview ...............................................................................................
67
2.4.2
Configuration ..................................................................... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 8 | 140
3.1.4
Maintenance ..........................................................................................
140
3.1.4.1
Maintenance that affect the accuracy ..............................................
142
3.1.4.2
Loss of accuracy .........................................................................
143
3.1.... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 9 | 203
4.1.9.4
Use several sensors .....................................................................
204
4.1.9.5
Finepoint programming .................................................................
205
4.1.9.6
Drop sensor object ......................................................................
206
4.1.9.7
Info... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 10 | 278
7.1.5.3
Signals ......................................................................................
279
7.1.6
How to use Collision Detection ..................................................................
279
7.1.6.1
Set up system parameters .............................................................
280
7.... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 11 | 347
9.2
Sensor Interface [628-1] .....................................................................................
347
9.2.1
Introduction to Sensor Interface .................................................................
348
9.2.2
Configuring sensors ................................................................. |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 12 | Overview of this manual
About this manual
This manual explains the basics of when and how to use various RobotWare options
and functions.
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
informat... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 13 | Description
Revision
Released with RobotWare 6.02.
B
•
Updated the path to the template files, for UdpUc code examples and
Commissioning and service on page 398 .
•
The TCP ports and protocols are updated for the option Sensor Interface
[628-1], see Configuring sensors on Ethernet channels on page 350 .
•
Added the fu... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 14 | Description
Revision
•
Added information about multiple mechanical units and motion tasks
to Externally Guided Motion [689-1] .
•
Maximum length for file paths in NFS Client increased to 248 characters.
•
Added information about SFTP setting to SFTP Client [614-1] on
page 293 .
•
Added Collision Avoidance on page ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 15 | Description
Revision
Released with RobotWare 6.15.
S
•
Added information about deactivation/deactivation and trigger signals,
see Collision Avoidance on page 283 .
•
Corrected graphic in section Connected Services registration on
page 125 .
Released with RobotWare 6.15.07.
T
•
Updated the server error details in the ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 16 | Open source and 3rd party components
Open source and 3rd party components
ABB products use software provided by third parties, including open source
software. The following copyright statements and licenses apply to various
components that are distributed inside the ABB software. Each ABB product does
not necessarily u... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 17 | This page is intentionally left blank
1 Introduction to RobotWare
1.1 Products, classes, and options
Software products
RobotWare is a family of software products from ABB Robotics. The products are
designed to make you more productive and lower your cost of owning and operating
a robot. ABB Robotics has invested many ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 18 | 1 Introduction to RobotWare
1.1 Products, classes, and options
Software products
RobotWare is a family of software products from ABB Robotics. The products are
designed to make you more productive and lower your cost of owning and operating
a robot. ABB Robotics has invested many years into the development of these
pro... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 19 | Option groups
For OmniCore, the RobotWare options have been gathered in groups, depending
on the customer benefit. The goal is to make it easier to understand the customer
value of the options. However, all options are purchased individually. The groups
are as follows:
Description
Option groups
Options that optimize th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 20 | 1.2 RAPID language and programming environment
General
RAPID is the primary programming language used for ABB Robotics, designed to
facilitate the control and automation of industrial robots. It is a high-level language
that is both powerful and user-friendly, making it accessible for both novice and
experienced progra... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 21 | Ease of use
Creating and editing RAPID programs is done using the integrated code editors
in RobotStudio or on the FlexPendant. Additionally, there is an app for the
FlexPendant called Wizard, where RAPID programming is further simplified to
block programming.
RAPID programs can range from simple movement procedures to... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 22 | Draw a square
The robot is holding a pen above a piece of paper on a table. This program will
make the robot move the tip of the pen down to the paper and then draw a square.
xx0700000362
PERS tooldata tPen := [ TRUE, [[200, 0, 30], [1, 0, 0 ,0]], [0.8,
[62, 0, 17], [1, 0, 0, 0], 0, 0, 0]];
CONST robtarget p10 := [ [60... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 23 | xx0700000364
References
The RAPID programming language is described in detail in the following documents.
Where to read about it
What do you want to know
Technical reference manual - RAP-
ID Overview
•
More detailed information about the functionality
•
What instructions are there for a specific cat-
egory, for example... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 24 | 2 RobotWare-OS
2.1 Advanced RAPID
2.1.1 Introduction to Advanced RAPID
Introduction to Advanced RAPID
The RobotWare base functionality Advanced RAPID is intended for robot
programmers who develop applications that require advanced functionality.
Advanced RAPID includes many different types of functionality, which can... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 25 | 2.1.2 Bit functionality
2.1.2.1 Overview
Purpose
The purpose of the bit functionality is to be able to make operations on a byte,
seen as 8 digital bits. It is possible to get or set a single bit, or make logical
operations on a byte. These operations are useful, for example, when handling
serial communication or group... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 26 | 2.1.2.2 RAPID components
Data types
This is a brief description of each data type used for the bit functionality. For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
The data type byte represent a decimal value betwee... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 27 | 2.1.2.3 Bit functionality example
Program code
CONST num parity_bit := 8;
!Set data1 to 00100110
VAR byte data1 := 38;
!Set data2 to 00100010
VAR byte data2 := 34;
VAR byte data3;
!Set data3 to 00100010
data3 := BitAnd(data1, data2);
!Set data3 to 00100110
data3 := BitOr(data1, data2);
!Set data3 to 00000100
data3 := B... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 28 | 2.1.3 Data search functionality
2.1.3.1 Overview
Purpose
The purpose of the data search functionality is to search and get/set values for
data objects of a certain type.
Here are some examples of applications for the data search functionality:
•
Setting a value to a variable, when the variable name is only available in... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 29 | 2.1.3.2 RAPID components
Data types
This is a brief description of each data type used for the data search functionality.
For more information, see the respective data type in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Data type
datapos is the enclosing block to a data obj... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 30 | 2.1.3.3 Data search functionality examples
Set unknown variable
This is an example of how to set the value of a variable when the name of the
variable is unknown when programming, and only provided in a string.
VAR string my_string;
VAR num my_number;
VAR num new_value:=10;
my_string := "my_number";
!Set value to 10 fo... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 31 | 2.1.4 Alias I/O signals
2.1.4.1 Overview
Purpose
The Alias I/O functionality gives the programmer the ability to use any name on a
signal and connect that name to a configured I/O signal.
This is useful when a RAPID program is reused between different systems. Instead
of rewriting the code, using a signal name that exi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 32 | 2.1.4.2 RAPID components
Data types
There are no RAPID data types for the Alias I/O functionality.
Instructions
This is a brief description of each instruction used for the Alias I/O functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Da... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 33 | 2.1.4.3 Alias I/O functionality example
Assign alias name to signal
This example shows how to define the digital output signal alias_do to be
connected to the configured digital output I/O signal config_do .
The routine prog_start is connected to the START event.
This will ensure that "alias_do" can be used in the... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 34 | 2.1.5 Configuration functionality
2.1.5.1 Overview
Purpose
The configuration functionality gives the programmer access to the system
parameters at run time. The parameter values can be read and edited. The controller
can be restarted in order for the new parameter values to take effect.
What is included
Configuration f... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 35 | 2.1.5.2 RAPID components
Data types
There are no RAPID data types for the configuration functionality.
Instructions
This is a brief description of each instruction used for the configuration functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Function... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 36 | 2.1.5.3 Configuration functionality example
Configure system parameters
This is an example where the system parameter cal_offset for rob1_1 is read,
increased by 0.2 mm and then written back. To make this change take effect, the
controller is restarted.
VAR num old_offset;
VAR num new_offset;
ReadCfgData "/MOC/MOTOR_... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 37 | 2.1.6 Power failure functionality
2.1.6.1 Overview
Purpose
If the robot was in the middle of a path movement when the power fail occurred,
some extra actions may need to be taken when the robot motion is resumed. The
power failure functionality helps you detect if the power fail occurred during a path
movement.
Note
Fo... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 38 | 2.1.6.2 RAPID components and system parameters
Data types
There are no RAPID data types in the power failure functionality.
Instructions
There are no RAPID instructions in the power failure functionality.
Functions
This is a brief description of each function in the power failure functionality. For
more information, se... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 39 | 2.1.6.3 Power failure functionality example
Test for interrupted path
When resuming work after a power failure, this example tests if the power failure
occurred during a path (i.e. when the robot was moving).
!Test if path was interrupted
IF PFRestart() = TRUE THEN
SetDO do5,1;
ELSE
SetDO do5,0;
ENDIF
38
Application ma... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 40 | 2.1.7 Process support functionality
2.1.7.1 Overview
Purpose
Process support functionality provides some RAPID instructions that can be useful
when creating process applications. Examples of its use are:
•
Analog output signals, used in continuous process application, can be set
to be proportional to the robot TCP spee... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 41 | 2.1.7.2 RAPID components
Data types
This is a brief description of each data type used for the process support
functionality. For more information, see the respective data type in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Data type
restartdata can contain the pre- and pos... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 42 | 2.1.7.3 Process support functionality examples
Signal proportional to speed
In this example, the analog output signal that controls the amount of glue is set to
be proportional to the speed.
Any speed dip by the robot is time compensated in such a way that the analog
output signal glue_ao is affected 0.04 s before th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 43 | ENDPROC
PROC resume_signals()
IF myproc_data.preshadowval = 1 THEN
SetDO do_close_gun,1;
ELSE
SetDO do_close_gun,0;
ENDIF
ENDPROC
Move TCP backwards
In this example, the TCP is moved backwards 30 mm in 1 second, along the same
path as before the restart.
The procedure move_backward is defined as a RESTART event routi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 44 | 2.1.8 Interrupt functionality
2.1.8.1 Overview
Purpose
The interrupt functionality in Advanced RAPID has some extra features, in addition
to the interrupt features always included in RAPID. For more information on the
basic interrupt functionality, see Technical reference manual - RAPID Overview .
Here are some exampl... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 45 | 2.1.8.2 RAPID components
Data types
This is a brief description of each data type in the interrupt functionality. For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
trapdata represents internal information related to ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 46 | 2.1.8.3 Interrupt functionality examples
Interrupt when persistent variable changes
In this example, a trap routine is called when the value of the persistent variable
counter changes.
VAR intnum int1;
PERS num counter := 0;
PROC main()
CONNECT int1 WITH iroutine1;
IPers counter, int1;
...
counter := counter + 1;
...
... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 47 | 2.1.9 User message functionality
2.1.9.1 Overview
Purpose
The user message functionality is used to set up event numbers and facilitate the
handling of event messages and other texts to be presented in the user interface.
Here are some examples of applications:
•
Get user messages from a text table file, which simplifi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 48 | 2.1.9.2 RAPID components
Data types
There are no RAPID data types for the user message functionality.
Instructions
This is a brief description of each instruction used for the user message
functionality. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 49 | 2.1.9.3 User message functionality examples
Book error number
This example shows how to add a new error number.
VAR intnum sig1int;
!Introduce a new error number in a glue system.
!Note: The new error variable must be declared with the
! initial value -1
VAR errnum ERR_GLUEFLOW := -1;
PROC main()
!Book the new RAPID sy... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 50 | ErrWrite TextGet(text_res_no, 1), TextGet(text_res_no, 2);
Application manual - Controller software IRC5
49
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
2 RobotWare-OS
2.1.9.3 User message functionality examples
Continued
2.1.9.4 Text table files
Overview
A text table is stored in an XML ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 51 | 2.1.9.4 Text table files
Overview
A text table is stored in an XML file (each file can contain one table in one language).
This table can contain any number of text strings with encoding ISO-8859-1.
Explanation of the text table file
This is a description of the XML tags and arguments used in the text table file.
Descr... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 52 | 2.1.10 RAPID support functionality
2.1.10.1 Overview
Purpose
The RAPID support functionality consists of miscellaneous routines that might be
helpful for an advanced robot programmer.
Here are some examples of applications:
•
Activate a new tool, work object or payload.
•
Find out what an argument is called outside the... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 53 | 2.1.10.2 RAPID components
Data types
There are no data types for RAPID support functionality.
Instructions
This is a brief description of each instruction used for RAPID support functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data ty... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 54 | 2.1.10.3 RAPID support functionality examples
Activate tool
This is an example of how to activate a known tool:
!Activate tool1
SetSysData tool1;
This is an example of how to activate a tool when the name of the tool is only
available in a string:
VAR string tool_string := "tool2";
!Activate the tool specified in tool_... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 55 | 2.2 Analog Signal Interrupt
2.2.1 Introduction to Analog Signal Interrupt
Purpose
The purpose of Analog Signal Interrupt is to supervise an analog signal and
generate an interrupt when a specified value is reached.
Analog Signal Interrupt is faster, easier to implement, and require less computer
capacity than polling m... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 56 | 2.2.2 RAPID components
Data types
Analog Signal Interrupt includes no data types.
Instructions
This is a brief description of each instruction in Analog Signal Interrupt. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Inst... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 57 | 2.2.3 Code example
Temperature surveillance
In this example a temperature sensor is connected to the signal ai1 .
An interrupt routine with a warning is set to execute every time the temperature
rises 0.5 degrees in the range 120-130 degrees. Another trap routine, stopping the
robot, is set to execute as soon as the t... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 58 | 2.3 Cyclic bool
2.3.1 Cyclically evaluated logical conditions
Purpose
The purpose of cyclically evaluated logical conditions, Cyclic bool , is to allow a
RAPID programmer to connect a logical condition to a persistent boolean variable.
The logical condition will be evaluated every 12 ms and the result will be written
... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 59 | Configuration
The following behavior of the Cyclic bool functionality can be configured:
Description
Parameter
It is possible to configure if the cyclically evaluated logical conditions
shall be removed or not when setting the program pointer to main .
•
On - remove.
•
Off - do not remove (default behavior).
RemoveA... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 60 | •
Any PERS num or dnum , CONST num or dnum or literal num or dnum used in a
condition must be of integer type. If using any decimal value this will cause
a fatal error.
Application manual - Controller software IRC5
59
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
2 RobotWare-OS
2... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 61 | 2.3.2 Cyclic bool examples
Using digital input and output signals
! Wait until all signals are set
PERS bool cyclicbool1 := FALSE;
PROC main()
SetupCyclicBool cyclicbool1, di1=1 AND do2=1;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 62 | Using alias variables
! Wait until all conditions are met
ALIAS bool aliasBool;
ALIAS num aliasNum;
ALIAS dnum aliasDnum;
PERS bool cyclicbool1 := FALSE;
PERS aliasBool flag1 := FALSE;
PERS aliasNum num1 := 0;
PERS aliasDnum dnum1 := 0;
PROC main()
SetupCyclicBool cyclicbool1, flag1=TRUE AND (num1=7 OR
dnum1=10000000... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 63 | Handing over arguments by reference
If the instruction SetupCyclicBool is used inside a called procedure, it is possible
to hand over conditions as arguments to that procedure.
Using conditions passed by reference works only for SetupCyclicBool . Conditions
passed by reference has the same restrictions as conditions... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 64 | 2.3.3 System parameters
About the system parameters
This is a brief description of the system parameters used by Cyclic bool . For more
information about the parameters, see Technical reference manual - System
parameters .
Type Cyclic bool settings
The system parameters used by Cyclic bool belong to the type Cycl... |
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