Multimove-3HAC050961-en

Overview of this manual About this manual This manual contains information about the RobotWare optionsMultiMove Independent and MultiMove Coordinated. The latter includes some extended functionality. Unless something else is specified, MultiMove refers to both these options. Usage This manual can be used either as a brief description to find out if MultiMove is the right choice for solving a problem, or as a description of how to use it. This manual provides information about system parameters and RAPID components related to MultiMove, and many examples of how to use them. The details regarding syntax for RAPID components, and similar, are not described here, but can be found in the respective reference manual. Who should read this manual? This manual is mainly intended for robot programmers. Prerequisites The reader should... • be familiar with industrial robots and their terminology. • be familiar with the RAPID programming language. • be familiar with system parameters and how to configure them. • be familiar with the option Multitasking (see Application manual - Engineering Product documentation, IRC5 Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional. All documents listed can be ordered from ABB on a DVD. The documents listed are valid for IRC5 robot systems. Product manuals Manipulators, controllers, DressPack/SpotPack, and most other hardware is delivered with a Product manual that generally contains: • Safety information. • Installation and commissioning (descriptions of mechanical installation or electrical connections). • Maintenance (descriptions of all required preventive maintenance procedures including intervals and expected life time of parts). • Repair (descriptions of all recommended repair procedures including spare parts). • Calibration. • Decommissioning. • Reference information (safety standards, unit conversions, screw joints, lists of tools). • Spare parts list with exploded views (or references to separate spare parts lists). • Circuit diagrams (or references to circuit diagrams). Technical reference manuals The technical reference manuals describe reference information for robotics products. • Technical reference manual - Lubrication in gearboxes: Description of types and volumes of lubrication for the manipulator gearboxes. • Technical reference manual - RAPID overview: An overview of the RAPID programming language. • Technical reference manual - RAPID Instructions, Functions and Data types: Description and syntax for all RAPID instructions, functions, and data types. • Technical reference manual - RAPID kernel: A formal description of the RAPID programming language. • Technical reference manual - System parameters: Description of system parameters and configuration workflows.