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I/O Protocol Migration Guide
RobotWare Paint 6.0
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ABB AS, Robotics
Technical Provisions
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TABLE OF CONTENTS
1.
INTRODUCTION ............................................................................................................................................... 4
2.
LAYOUT CHANGES ......................................................................................................................................... 5
2.1 Compact I/O Protocol (16-bit) ........................................................................................................................... 5
2.2 Discrete I/O Protocol (32-bit) ............................................................................................................................ 6
2.3 Extended Discrete I/O Protocol (48-bit) ............................................................................................................ 8
2.4 Command I/O Protocol (64-bit) ....................................................................................................................... 11
2.5 Extended Command I/O Protocol (80-bit) ....................................................................................................... 15
3.
REMOVED OUTPUT SIGNALS .................................................................................................................... 20
3.1 MtrlSupplyEna ................................................................................................................................................. 20
3.2 ConveyorHoldReq ........................................................................................................................................... 20
3.3 ManualMode .................................................................................................................................................... 20
3.4 CommandExecuting ......................................................................................................................................... 20
3.5 InModule.......................................................................................................................................................... 20
3.6 OutParam2 ....................................................................................................................................................... 20
4.
REMOVED INPUT SIGNALS ........................................................................................................................ 21
4.1 MtrlSupEnable & MtrlSupDisable................................................................................................................... 21
4.2 NegateInParam1, NegateInParam2 & NegateInParam3 .................................................................................. 21
4.3 ProgramNo & MaterialNo ............................................................................................................................... 21
5.
RENAMED SIGNAL NAMES ......................................................................................................................... 22
5.1 ApplicatorError ................................................................................................................................................ 22
5.2 MotorOn .......................................................................................................................................................... 22
5.3 CBSMotorOn ................................................................................................................................................... 22
5.4 OutParam1 ....................................................................................................................................................... 22
6.
REMOVED PAINT COMMANDS ................................................................................................................. 23
6.1 Controller Warm Start (100) ............................................................................................................................ 23
6.2 Spy Log Start (120) & Spy Log Stop (121) ..................................................................................................... 23
6.3 Generate System Dump (122) .......................................................................................................................... 23
6.4 Get Free Program Memory (123)..................................................................................................................... 23
6.5 System Position Teach (210) & System Tool Teach (211) .............................................................................. 23
6.6 Execute Program by String (402)..................................................................................................................... 23
6.7 Material Supply Enable (404) & Material Supply Disable (405) .................................................................... 23
6.8 Get Material Change State (409) ..................................................................................................................... 23
6.9 Get Cavity Material (430) ................................................................................................................................ 23
6.10 Set Cavity Material (431)................................................................................................................................. 23
7.
RENUMBERED PAINT COMMANDS ......................................................................................................... 24
7.1 Conversion Table ............................................................................................................................................. 24
8.
CHANGED INPUT PARAMETERS ON PAINT COMMANDS ................................................................. 25
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8.1 Execute Program (400) .................................................................................................................................... 25
8.2 Material Load (401) ......................................................................................................................................... 25
8.3 Get Current Job Information (419) .................................................................................................................. 25
8.4 Job Queue Peek (420) ...................................................................................................................................... 25
8.5 Job Queue Append (421) ................................................................................................................................. 25
8.6 Job Queue Insert (422) ..................................................................................................................................... 25
8.7 Job Queue Read Information (424) .................................................................................................................. 25
8.8 Job Queue Modify (427) .................................................................................................................................. 26
9.
CHANGED OUTPUT PARAMETERS ON PAINT COMMANDS............................................................. 27
9.1 Get Current Job Information (419) .................................................................................................................. 27
9.2 Job Queue Peek (420) ...................................................................................................................................... 27
9.3 Job Queue Read Information (424) .................................................................................................................. 27
10.
REVISION HISTORY ................................................................................................................................. 28
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1. INTRODUCTION
This document describes what has been changed in the I/O protocols for RobotWare 6.0
With an emphasis on what is needed to migrate from the similar RobotWare 5 (PntRapid) protocols.
The layout diagrams shows a comparison, with changes marked in red.
Some signals have been moved around in order to keep the standard protocol layouts at 16, 32, 48 and 64 bits in
size.
Handling of removed signals is described separately.
RobotWare 6.0 has only 4 protocol templates, compared to 5 in RobotWare 5.xx.
The two command based protocols have been unified into one single protocol.
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2. LAYOUT CHANGES
2.1 Compact I/O Protocol (16-bit)
Input
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Output
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
RW5.xx (PntRapid)
AppEnable
AppDisable
CancelProgram
StartSignal
ResetError
ExStart
EraseQueue
StopSignal
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
MaterialToggle
ProgramToggle
RW5.xx (PntRapid)
AppEnabled
ApplicatorError
ReadyHighPri
SystemRunning
RobotError
ProgramLoaded
JobInProgress
ReadyToReceive
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
MaterialAck
ProgramAck
Prepared
RW 6.xx
AppEnable
AppDisable
CancelProgram
StartSignal
ResetError
ExStart
EraseQueue
StopSignal
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
MaterialToggle
ProgramToggle
RW 6.xx
AppEnabled
AppError
ReadyHighPri
SystemRunning
RobotError
ProgramLoaded
JobInProgress
ReadyToReceive
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
MaterialAck
ProgramAck
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2.2 Discrete I/O Protocol (32-bit)
Input
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
RW5.xx (PntRapid)
ModeChangeAck
MasterRequest
MasterRelease
ResetError
CancelProgram
EraseQueue
InhibitProd
StartSignal
StopSignal
CancelMaterial
MtrlSupEnable
MtrlSupDisable
AppEnable
AppDisable
HVEnable
HVDisable
ProgramNo
ProgramNo
ProgramNo
ProgramNo
ProgramNo
ProgramNo
ProgramNo
MaterialNo
MaterialNo
MaterialNo
MaterialNo
MaterialNo
MaterialNo
MaterialNo
ProgramToggle
ExStart
Prepared
RW 6.xx
ModeChangeAck
MasterRequest
MasterRelease
ResetError
CancelProgram
EraseQueue
InhibitProd
StartSignal
StopSignal
CancelMaterial
ShiftQueue
BatchMode
AppEnable
AppDisable
HVEnable
HVDisable
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
OptionToggle
MaterialToggle
ProgramToggle
ExStart
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Output
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
RW5.xx (PntRapid)
AutomaticMode
MasterGranted
RunChainClosed
RobotError
JobInProgress
JobPending
ReadyHighPri
SystemRunning
MtrlChRunning
MtrlChangeOn
MtrlSupplyEna
MtrlSupplyError
AppEnabled
AppError
HVEnabled
HVError
HeartBeat
ConveyorHoldReq
PotlifeTimeOut
HomePos
MtrlChangePos
ReadyPos
UserPos
ReposFinished
EmergencyStop
JobComplete
ManualMode
ReadyToReceive
MotorOn
CommandExecuting
ProgramAck
ProgramLoaded
Prepared
RW 6.xx
AutomaticMode
MasterGranted
RunChainClosed
RobotError
JobInProgress
JobPending
ReadyHighPri
SystemRunning
MtrlChRunning
MtrlChangeOn
ObjConnected
MtrlSupplyError
AppEnabled
AppError
HVEnabled
HVError
HeartBeat
PotLifeWarning
PotLifeTimeOut
HomePos
MtrlChangePos
ReadyPos
UserPos
ReposFinished
EmergencyStop
JobComplete
GoingToAuto
ReadyToReceive
MotorIsOn
ConveyorRunning
IndexAck
ProgramLoaded
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2.3 Extended Discrete I/O Protocol (48-bit)
Input
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
RW5.xx (PntRapid)
ModeChangeAck
MasterRequest
MasterRelease
ResetError
CancelProgram
EraseQueue
InhibitProd
StartSignal
StopSignal
CancelMaterial
MtrlSupEnable
MtrlSupDisable
AppEnable
AppDisable
HVEnable
HVDisable
<free>
<free>
<free>
<free>
<free>
<free>
<free>
<free>
<free>
ForceMaterial
ShiftQueue
BatchMode
OptionToggle
MaterialToggle
ProgramToggle
ExStart
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
Prepared
RW 6.xx
ModeChangeAck
MasterRequest
MasterRelease
ResetError
CancelProgram
EraseQueue
InhibitProd
StartSignal
StopSignal
CancelMaterial
ShiftQueue
BatchMode
AppEnable
AppDisable
HVEnable
HVDisable
MotorOn
MotorOff
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
ForceMaterial
OptionToggle1
OptionToggle2
OptionToggle3
MaterialToggle
ProgramToggle
ExStart
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
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Input
38
39
40
41
42
43
44
45
46
47
48
Output
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
RW5.xx (PntRapid)
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
RW 6.xx
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
IndexNo
RW5.xx (PntRapid)
AutomaticMode
MasterGranted
RunChainClosed
RobotError
JobInProgress
JobPending
ReadyHighPri
SystemRunning
MtrlChRunning
MtrlChangeOn
MtrlSupplyEna
MtrlSupplyError
AppEnabled
AppError
HVEnabled
HVError
HeartBeat
ConveyorHoldReq
PotlifeTimeOut
HomePos
MtrlChangePos
ReadyPos
UserPos
ReposFinished
EmergencyStop
JobComplete
ManualMode
Prepared
RW 6.xx
AutomaticMode
MasterGranted
RunChainClosed
RobotError
JobInProgress
JobPending
ReadyHighPri
SystemRunning
MtrlChRunning
MtrlChangeOn
ObjConnected
MtrlSupplyError
AppEnabled
AppError
HVEnabled
HVError
HeartBeat
PotLifeWarning
PotLifeTimeOut
HomePos
MtrlChangePos
ReadyPos
UserPos
ReposFinished
EmergencyStop
JobComplete
GoingToAuto
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Output
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
RW5.xx (PntRapid)
ReadyToReceive
MotorOn
CommandExecuting
IndexAck
ProgramLoaded
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
Prepared
RW 6.xx
ReadyToReceive
MotorIsOn
ConveyorRunning
IndexAck
ProgramLoaded
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
IndexReceived
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2.4 Command I/O Protocol (64-bit)
Input
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
RW5.xx (PntRapid)
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
<free>
CommandToggle
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
StopSignal
ResetError
InParam2
InParam2
InParam2
InParam2
InParam2
Prepared
RW 6.xx
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
ParamToggle1
ParamToggle2
ParamToggle3
CommandToggle
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam2
InParam2
InParam2
InParam2
InParam2
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Input
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
Output
1
2
3
4
5
6
7
8
9
10
11
RW5.xx (PntRapid)
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
AppDisable
HVDisable
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
ParamToggle1
ParamToggle2
RW 6.xx
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
RW5.xx (PntRapid)
AutomaticMode
MasterGranted
RunChainClosed
RobotError
JobInProgress
JobPending
ReadyHighPri
SystemRunning
MtrlChRunning
MtrlChangeOn
MtrlSupplyEna
Prepared
RW 6.xx
AutomaticMode
MasterGranted
RunChainClosed
RobotError
JobInProgress
JobPending
ReadyHighPri
SystemRunning
MtrlChRunning
MtrlChangeOn
ObjConnected
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Output
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
RW5.xx (PntRapid)
MtrlSupplyError
AppEnabled
AppError
HVEnabled
HVError
HeartBeat
ConveyorHoldReq
PotlifeTimeOut
HomePos
MtrlChangePos
ReadyPos
UserPos
ReposFinished
EmergencyStop
JobComplete
ManualMode
ReadyToReceive
MotorOn
<free>
ProgramAck
ProgramLoaded
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
CommandError
CommandExecuting
CommandAck
OutParam2
OutParam2
OutParam2
OutParam2
Prepared
RW 6.xx
MtrlSupplyError
AppEnabled
AppError
HVEnabled
HVError
HeartBeat
PotLifeWarning
PotLifeTimeOut
HomePos
MtrlChangePos
ReadyPos
UserPos
ReposFinished
EmergencyStop
JobComplete
GoingToAuto
ReadyToReceive
MotorIsOn
ConveyorRunning
CBSMotorIsOn
ProgramLoaded
CommandOK
CommandFailed
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
ParamAck1
ParamAck2
ParamAck3
CommandAck
OutData
OutData
OutData
OutData
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Output
53
54
55
56
57
58
59
60
61
62
63
64
RW5.xx (PntRapid)
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
ParamAck1
ParamAck2
Prepared
RW 6.xx
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
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2.5 Extended Command I/O Protocol (80-bit)
Input
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
RW5.xx (PntRapid)
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
<reserved>
CommandToggle
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam2
InParam2
InParam2
InParam2
InParam2
Prepared
RW 6.xx
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
ParamToggle1
ParamToggle2
ParamToggle3
CommandToggle
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam1
InParam2
InParam2
InParam2
InParam2
InParam2
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Input
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
RW5.xx (PntRapid)
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
ParamToggle1
ParamToggle2
StopSignal
ResetError
AppDisable
HVDisable
NegateInParam1
NegateInParam2
NegateInParam3
<reserved>
<reserved>
<reserved>
<reserved>
<reserved>
Prepared
RW 6.xx
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam2
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
InParam3
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
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Input RW5.xx (PntRapid)
79 <reserved>
80 <reserved>
RW 6.xx
<N/A>
<N/A>
Output
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
RW 6.xx
AutomaticMode
MasterGranted
RunChainClosed
RobotError
JobInProgress
JobPending
ReadyHighPri
SystemRunning
MtrlChRunning
MtrlChangeOn
ObjConnected
MtrlSupplyError
AppEnabled
AppError
HVEnabled
HVError
HeartBeat
PotLifeWarning
PotLifeTimeOut
HomePos
MtrlChangePos
ReadyPos
UserPos
ReposFinished
EmergencyStop
JobComplete
GoingToAuto
ReadyToReceive
MotorIsOn
ConveyorRunning
CBSMotorIsOn
ProgramLoaded
CommandOK
CommandFailed
<Reserved>
<Reserved>
RW5.xx (PntRapid)
AutomaticMode
MasterGranted
RunChainClosed
RobotError
JobInProgress
JobPending
ReadyHighPri
SystemRunning
MtrlChRunning
MtrlChangeOn
MtrlSupplyEna
MtrlSupplyError
AppEnabled
AppError
HVEnabled
HVError
HeartBeat
ConveyorHoldReq
PotlifeTimeOut
HomePos
MtrlChangePos
ReadyPos
UserPos
ReposFinished
EmergencyStop
JobComplete
ManualMode
ReadyToReceive
MotorOn
<reserved>
ProgramAck
ProgramLoaded
OutParam1
OutParam1
OutParam1
OutParam1
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Output
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
RW5.xx (PntRapid)
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam1
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
OutParam2
CommandError
CommandExecuting
CommandAck
ParamAck1
ParamAck2
InModule
ObjConnected
ConveyorRunning
CBSMotorOn
PotLifeWarning
GoingToAuto
<reserved>
<reserved>
Prepared
RW 6.xx
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
<Reserved>
ParamAck1
ParamAck2
ParamAck3
CommandAck
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
OutData
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
<N/A>
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Output
78
79
80
RW5.xx (PntRapid)
<reserved>
<reserved>
<reserved>
Prepared
RW 6.xx
<N/A>
<N/A>
<N/A>
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3. REMOVED OUTPUT SIGNALS
3.1 MtrlSupplyEna
Material supply function has been removed in RobotWare 6.0. Skipping material change can be performed by
sending material index 0 together with a job instead.
3.2 ConveyorHoldReq
The “ConveyorHoldReq” signal was never connected to any system function in RobotWare 5.xx, so it has been
removed in RobotWare 6.0.
3.3 ManualMode
The “ManualMode” status output has been removed in favour of “GoingToAuto” which is a better status to
monitor when sending automode acknowledge. The “AutomaticMode” output can be used to determine if the
system is not in automatic mode.
3.4 CommandExecuting
Using “CommandExecuting” was unreliable in RobotWare 5.xx so it has been removed. Use the
“CommandAck” output to determine when command has finished instead.
3.5 InModule
This signal was only present in the extended command protocol earlier. Consider using “JobInProgress” instead.
3.6 OutParam2
No standard paint commands give more than one output parameter, so this has been removed to keep the
command protocol at 64 bits.
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4. REMOVED INPUT SIGNALS
4.1 MtrlSupEnable & MtrlSupDisable
Material supply function has been removed in RobotWare 6.0. Skipping material change can be performed by
sending material index 0 together with a job instead.
4.2 NegateInParam1, NegateInParam2 & NegateInParam3
No paint commands rely on negative input parameters. The only notable exception is the negative quantity in
the job queue, but this can be achieved by using the “BatchMode” input signal when appending a job directly
with toggle.
4.3 ProgramNo & MaterialNo
These have been removed in favor of the common “IndexNo” input, since larger program and material numbers
can be toggled in that case.
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5. RENAMED SIGNAL NAMES
5.1 ApplicatorError
Changed to “AppError” in Compact I/O protocol, in order to use same naming as other protocols.
5.2 MotorOn
Changed to “MotorIsOn” to avoid conflict with other MotorOn input signal.
5.3 CBSMotorOn
Changed to “CBSMotorIsOn” to avoid confusion, since this is a status signal, not an input.
5.4 OutParam1
Changed to “OutData”, since it does not necessarily give the first output parameter, but also the error code in
case of command failure.
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6. REMOVED PAINT COMMANDS
6.1 Controller Warm Start (100)
Consider setting separate up system input if this is needed. Or use RobAPI to be able to send all types of
restarts.
6.2 Spy Log Start (120) & Spy Log Stop (121)
Use RAPID instructions or main console commands to run RAPID spy instead.
6.3 Generate System Dump (122)
Use PxTPU to generate system diagnostics file instead, this has more information and is more useful.
6.4 Get Free Program Memory (123)
Consider getting information directly in RAPID instead.
6.5 System Position Teach (210) & System Tool Teach (211)
Only used by PxTPU, which should now update RAPID data directly with regular RobAPI commands.
6.6 Execute Program by String (402)
Cannot be implemented, since paint commands in RW6.0 do not support string input. Use program index
(segments) file to map between program index and module name.
6.7 Material Supply Enable (404) & Material Supply Disable (405)
Material supply function has been removed in RobotWare 6.0. Skipping material change can be performed by
sending material index 0 together with a job instead.
6.8 Get Material Change State (409)
For GUIs, use RobAPI2 to get this information.
6.9 Get Cavity Material (430)
For GUIs, use RobAPI2 to get this information.
6.10 Set Cavity Material (431)
Not possible, since material change may be running isolated on PIB.
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7. RENUMBERED PAINT COMMANDS
7.1 Conversion Table
Some paint commands have changed number to group them into more logical ranges.
(100-199 = System Input Wrappers,
200-299 = Material Change,
300-399 = Applicator,
400-499 = Job Queue,
700-799 = CBS)
Command Name
RW5.xx (PntRapid)
RW 6.xx
Inhibit Production
105
406
Motor On
200
110
Motor Off
201
111
Material Change Cancel
403
204
Material Change Suspend
407
202
Resume Material Change
408
203
Read Material Consumption
410
310
Calibrate IPS Curve
500
350
Calibrate Rotation Sensor
505
355
Set Accumulated Volume
570
780
Get Accumulated Volume
571
781
Reset Accumulated Volume
572
782
Save Accumulated Volume
579
789
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8. CHANGED INPUT PARAMETERS ON PAINT COMMANDS
8.1 Execute Program (400)
1 = Program Index,
2 = Program Option 1,
3 = Program Option 2,
4 = Program Option 3
8.2 Material Load (401)
1 = Material Index,
2 = Material Option 1,
3 = Material Option 2,
4 = Material Option 3
8.3 Get Current Job Information (419)
1 = Entry Number
8.4 Job Queue Peek (420)
1 = Job ID
8.5 Job Queue Append (421)
1 = Program Index,
2 = Material Index,
3 = Program Option 1,
4 = Program Option 2,
5 = Program Option 3,
6 = Material Option 1,
7 = Material Option 2,
8 = Material Option 3,
9 = Quantity
10 = Job ID (Override default Job ID.)
8.6 Job Queue Insert (422)
1 = Program Index,
2 = Material Index,
3 = Program Option 1,
4 = Program Option 2,
5 = Program Option 3,
6 = Material Option 1,
7 = Material Option 2,
8 = Material Option 3,
9 = Quantity,
10 = Job ID (0 = In front, >0 = In front of that Job ID.)
8.7 Job Queue Read Information (424)
1 = Job ID
2 = Entry Number
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8.8 Job Queue Modify (427)
1 = Program Index,
2 = Material Index,
3 = Program Option 1,
4 = Program Option 2,
5 = Program Option 3,
6 = Material Option 1,
7 = Material Option 2,
8 = Material Option 3,
9 = Quantity,
10 = Job ID (Job ID to modify data for.)
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9. CHANGED OUTPUT PARAMETERS ON PAINT COMMANDS
9.1 Get Current Job Information (419)
1 = Specific Entry
9.2 Job Queue Peek (420)
1 = Program Index,
2 = Material Index,
3 = Program Option 1,
4 = Program Option 2,
5 = Program Option 3,
6 = Material Option 1,
7 = Material Option 2,
8 = Material Option 3,
9 = Quantity
9.3 Job Queue Read Information (424)
1 = Specific Entry
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10. REVISION HISTORY
Rev
Date
Author
Description
01
3/1-2014
KE
Initial version.
02
20/2-2014
KE
Updated after change request from DEFAC, and added
information on paint commands.
03
10/6-2014
KE
Paint command 5 (Flush log buffers) has been re-introduced.
04
2/10-2014
KE
Paint commands 419 and 424 re-introduced. Signals
“ReadyHighPri” and “InhibitProd” re-introduced.
“ObjConnected”, “ShiftQueue” and “ForceMaterial” has
changed location. Paint command 105 re-introduced as
number 406.
05
4/11-2014
KE
Some missing and renamed signals added. “CBSMotorIsOn”
re-introduced into command protocol.
06
16/12-2014
KE
Added information on paint command 419 parameters.
07
16/1-2015
KE
Correction and clarification on parameters for paint
commands 419, 420 and 424.
08
5/2-2015
KE
Master commands, 1 and 2, re-introduced along with
associated signals.
09
3/4-2015
KE
Paint command 107 re-introduced.
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