ABB IRB 4400 User Manual

Technical specification
Product Specification IRB 4400 M98A/BaseWare OS 3.2 37
Stop Stops execution
EXIT Stops execution when a restart is not allowed
Break Stops execution temporarily
Motion settings
AccSet Reduces the acceleration
ConfJ Controls the robot configuration during joint movement
ConfL Monitors the robot configuration during linear movement
VelSet Changes the programmed velocity
GripLoad Defines the payload
SingArea Defines the interpolation method used through singular points
PDispOn Activates program displacement
PDispSet Activates program displacement by specifying a value
DefFrame Defines a program displacement automatically
DefDFrame Defines a displacement frame
EOffsOn Activates an offset for an external axis
EOffsSet Activates an offset for an external axis using a value
ORobT Removes a program displacement from a position
SoftAct Activates soft servo for a robot axis
TuneServo Tunes the servo
Motion
MoveC Moves the TCP circularly
MoveJ Moves the robot by joint movement
MoveL Moves the TCP linearly
MoveAbsJ Moves the robot to an absolute joint position
MoveXDO Moves the robot and set an output in the end position
SearchC Searches during circular movement
SearchL Searches during linear movement
ActUnit Activates an external mechanical unit
DeactUnit Deactivates an external mechanical unit
Offs Displaces a position
RelTool Displaces a position expressed in the tool coordinate system
MirPos Mirrors a position
CRobT Reads current robot position (the complete robtarget)
CJointT Reads the current joint angles
CPos Reads the current position (pos data)
CTool Reads the current tool data
CWObj Reads the current work object data
StopMove Stops robot motion
StartMove Restarts robot motion
Input and output signals
InvertDO Inverts the value of a digital output signal
PulseDO Generates a pulse on a digital output signal
Reset Sets a digital output signal to 0
Set Sets a digital output signal to 1
SetAO Sets the value of an analog output signal
SetDO Sets the value of a digital output signal after a defined time
SetGO Sets the value of a group of digital output signals
WaitDI Waits until a digital input is set
WaitDO Waits until a digital output is set
AInput Reads the value of an analog input signal
DInput Reads the value of a digital input signal
DOutput Reads the value of a digital output signal

ABB IRB 4400 Specifications

General

Brand	ABB
Model	IRB 4400
Category	Robotics
Language	English