Product manual

Technical specification
Product Specification IRB 6400R M99/BaseWare OS 3.2 37
DInput Reads the value of a digital input signal
DOutput Reads the value of a digital output signal
GInput Reads the value of a group of digital input signals
GOutput Reads the value of a group of digital output signals
TestDI Tests if a digital input signal is set
IODisable Disables an I/O module
IOEnable Enables an I/O module
Interrupts
ISignalDI Orders interrupts from a digital input signal
ISignalDO Orders interrupts from a digital output signal
ITimer Orders a timed interrupt
IDelete Cancels an interrupt
ISleep Deactivates an interrupt
IWatch Activates an interrupt
IDisable Disables interrupts
IEnable Enables interrupts
CONNECT Connects an interrupt to a trap routine
Error Recovery
EXIT Terminates program execution
RAISE Calls an error handler
RETRY Restarts following an error
TRYNEXT Skips the instruction that has caused the error
RETURN Returns to the routine that called the current routine
Communication
TPErase Erases text printed on the teach pendant
TPWrite Writes on the teach pendant
TPReadFK Reads function keys
TPReadNum Reads a number from the teach pendant
ErrWrite Stores an error message in the error log
System & Time
ClkReset Resets a clock used for timing
ClkStart Starts a clock used for timing
ClkStop Stops a clock used for timing
ClkRead Reads a clock used for timing
CDate Reads the current date as a string
CTime Reads the current time as a string
GetTime Gets the current time as a numeric value
Mathematics
Add Adds a numeric value
Clear Clears the value
Decr Decrements by 1
Incr Increments by 1
Abs Calculates the absolute value
Sqrt Calculates the square root
Exp Calculates the exponential value with the base “e”
Pow Calculates the exponential value with an arbitrary base
ACos Calculates the arc cosine value
ASin Calculates the arc sine value
ATan/ATan2 Calculates the arc tangent value