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—ROBOTICSReferencemanualPaintcommandsandPLCinterfaceRW6ReferencemanualPaintcommandsandPLCinterfaceRW63HNA024494-001Rev.1407March2023Firstedition:24September2015TheinformationinthismanualissubjecttochangewithoutnoticeandshouldnotbeconstruedasacommitmentbyABB.ABBassumesnoresponsibilityforanyerrorsthatmayappearinthismanual.Exceptasmaybeexpresslystatedanywhereinthismanual,nothinghereinshallbeconstruedasanykindofguaranteeorwarrantybyABBforlosses,damagetopersonsorproperty,fitnessforaspecificpurposeorthelike.InnoeventshallABBbeliableforincidentalorconsequentialdamagesarisingfromuseofthismanualandproductsdescribedherein.ThismanualandpartsthereofmustnotbereproducedorcopiedwithoutABB’swrittenpermission.AdditionalcopiesofthismanualmaybeobtainedfromABB.TheoriginallanguageforthismanualisEnglish.AnyotherlanguagesthataresuppliedhavebeentranslatedfromEnglish.©Copyright2015-2023ABB.Allrightsreserved.Specificationssubjecttochangewithoutnotice.TableofcontentsReferencemanual,PaintcommandsandPLCinterfaceRW63HNA024494-001Rev.14©Copyright2015-2023ABB.Allrightsreserved.5TitlepagePreface1Introduction112Systemdescription132.1Overview........................................................................132.2VariablesforGUIvisualization.......................................................152.3Internalstatussignals..............................................................192.4RAPID-basedmaterialchange.......................................................202.5Python-basedmaterialchange.......................................................242.6Customization....................................................................322.7Additionalsystemfeatures..........................................................342.8Flowdiagrams...................................................................352.8.1Singlelinecolorchange.....................................................352.8.2ABcolorchange-decideandprepareevents....................................362.8.3ABcolorchange-changeevent..............................................372.8.42Kcolorchange-cleaning...................................................382.8.52Kcolorchange-filling.....................................................392.8.6CBScolorchange..........................................................402.9Signalinputandoutputmapping.....................................................413Paintcommands453.1Introduction......................................................................453.2PC-GUIcommandtransferinterface..................................................463.3Descriptionofcommands...........................................................493.3.1Getmaster-Cmd1.........................................................493.3.2Releasemaster-Cmd2.....................................................503.3.3Flushlogbuffers-Cmd5....................................................513.3.4Controllerreseterror-Cmd101...............................................523.3.5Controllerstopexecution-Cmd102............................................533.3.6Controllerstart/continueprogramexecution-Cmd103.............................543.3.7Controllercancelprogramexecution-Cmd104...................................553.3.8Controllermodechangeacknowledge-Cmd106.................................563.3.9Controllerrecovery-Cmd107.....................