ABB IRB 6400R, Product On-Line Manual, Page: 45 / 481

Technical specification
Product Specification IRB 6400R M99/BaseWare OS 3.2 35
3.5 Programming
The programming language
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RAPID
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is a high-level application-oriented programming
language and includes the following functionality:
- hierarchial and modular structure
- functions and procedures
- global or local data and routines
- data typing, including structured and array types
- user defined names on variables, routines, inputs/outputs etc.
- extensive program flow control
- arithmetic and logical expressions
- interrupt handling
- error handling
- user defined instructions
- backward execution handler
The available sets of instructions/functions are given below. A subset of instructions to suit
the needs of a particular installation, or the experience of the programmer, can be installed
in pick lists. New instructions can easily be made by defining macros consisting of a
sequence of standard instructions.
Note that the lists below only cover BaseWare OS. For instructions and functions
associated with optional software, see Product Specification RobotWare.
Miscellaneous
:=
Assigns a value
WaitTime Waits a given amount of time
WaitUntil Waits until a condition is met
comment Inserts comments into the program
OpMode Reads the current operating mode
RunMode Reads the current program execution mode
Dim Gets the size of an array
Present Tests if an optional parameter is used
Load Loads a program module during execution
UnLoad Deletes a program module during execution
To control the program flow
ProcCall
Calls a new procedure
CallByVar Calls a procedure by a variable
RETURN Finishes execution of a routine
FOR Repeats a given number of times
GOTO Goes to (jumps to) a new instruction
Compact IF IF a condition is met, THEN execute one instruction
IF IF a condition is met, THEN execute a sequence of instructions
label Line name (used together with GOTO)
TEST Depending on the value of an expression ...