Installation and Commissioning

Technical specificationWHILE Repeats as long as ...StopStops executionEXITStops execution when a restart is not allowedBreakStops execution temporarilyMotion settingsAccSetConfJConfLVelSetGripLoadSingAreaPDispOnPDispSetDefFrameDefDFrameEOffsOnEOffsSetORobTSoftActTuneServoMotionMoveCMoveJMoveLMoveAbsJMoveXDOSearchCSearchLActUnitDeactUnitOffsRelToolMirPosCRobTCJointTCPosCToolCWObjStopMoveStartMoveReduces the accelerationControls the robot configuration during joint movementMonitors the robot configuration during linear movementChanges the programmed velocityDefines the payloadDefines the interpolation method through singular pointsActivates program displacementActivates program displacement by specifying a valueDefines a program displacement automaticallyDefines a displacement frameActivates an offset for an external axisActivates an offset for an external axis using a valueRemoves a program displacement from a positionActivates soft servo for a robot axisTunes the servoMoves the TCP circularlyMoves the robot by joint movementMoves the TCP linearlyMoves the robot to an absolute joint positionMoves the robot and set an output in the end positionSearches during circular movementSearches during linear movementActivates an external mechanical unitDeactivates an external mechanical unitDisplaces a positionDisplaces a position expressed in the tool coordinate systemMirrors a positionReads current robot position (the complete robtarget)Reads the current joint anglesReads the current position (pos data)Reads the current tool dataReads the current work object dataStops robot motionRestarts robot motionInput and output signalsInvertDO Inverts the value of a digital output signalPulseDO Generates a pulse on a digital output signalReset Sets a digital output signal to 0Set Sets a digital output signal to 1SetAOSets the value of an analog output signalSetDOSets the value of a digital output signal after a defined timeSetGOSets the value of a group of digital output signalsWaitDIWaits until a digital input is setWaitDO Waits until a digital output is setAInputReads the value of an analog input signalDInputReads the value of a digital input signalProduct Specification IRB 1400 M98/BaseWare OS 3.1 29