ABB IRB 6400R, Product On-Line Manual, Page: 48 / 481

Technical specification
38 Product Specification IRB 6400R M99/BaseWare OS 3.2
Cos Calculates the cosine value
Sin Calculates the sine value
Tan Calculates the tangent value
EulerZYX Calculates Euler angles from an orientation
OrientZYX Calculates the orientation from Euler angles
PoseInv Inverts a pose
PoseMult Multiplies a pose
PoseVect Multiplies a pose and a vector
Round Rounds a numeric value
Trunc Truncates a numeric value
Text strings
NumToStr
Converts numeric value to string
StrFind Searches for a character in a string
StrLen Gets the string length
StrMap Maps a string
StrMatch Searches for a pattern in a string
StrMemb Checks if a character is a member of a set
StrOrder Checks if strings are ordered
StrPart Gets a part of a string
StrToVal Converts a string to a numeric value
ValToStr Converts a value to a string
For more information on the programming language, see RAPID Reference Manual.
Memory
Memory size Instructions
1)
Program memory:
Standard
2.5 MB
2)
7500
Extended memory 8 MB 6.0 MB
2)
18000
Mass storage
3)
:
RAM memory Standard 0.5 MB 3000
Extended 8 MB 4.0 MB 31000
Diskette 1.44 MB 15000
1)
Depending on type of instruction.
2)
Some software options reduce the program memory. See Product
Specification RobotWare.
3)
Requires approx. 3 times less space than in the program memory, i.e. 1 MB
mass memory can store 3 MB of RAPID instructions.
Type of diskette: 3.5” 1.44 MB (HD) MS DOS format.
Programs and all user-defined data are stored in ASCII format.
Memory backup
The RAM memory is backed up by two Lithium batteries. Each battery has a
typical capacity of >12 months power off time. A warning is given at power on
when one of the batteries is empty.