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—ROBOTICSReferencemanualPaintcommandsandPLCinterfaceRW6—机器人参考手册油漆命令和PLC接口RW6TitlepageReferencemanualPaintcommandsandPLCinterfaceRW63HNA024494-001Rev.1407March2023Firstedition:24September2015Titlepage参考手册油漆命令和PLC接口RW63HNA024494-001修订版1407三月2023第一版：2015年9月24日TheinformationinthismanualissubjecttochangewithoutnoticeandshouldnotbeconstruedasacommitmentbyABB.ABBassumesnoresponsibilityforanyerrorsthatmayappearinthismanual.Exceptasmaybeexpresslystatedanywhereinthismanual,nothinghereinshallbeconstruedasanykindofguaranteeorwarrantybyABBforlosses,damagetopersonsorproperty,fitnessforaspecificpurposeorthelike.InnoeventshallABBbeliableforincidentalorconsequentialdamagesarisingfromuseofthismanualandproductsdescribedherein.ThismanualandpartsthereofmustnotbereproducedorcopiedwithoutABB’swrittenpermission.AdditionalcopiesofthismanualmaybeobtainedfromABB.TheoriginallanguageforthismanualisEnglish.AnyotherlanguagesthataresuppliedhavebeentranslatedfromEnglish.©Copyright2015-2023ABB.Allrightsreserved.Specificationssubjecttochangewithoutnotice.本手册中的信息如有更改，恕不另行通知，不应被解释为ABB的承诺。除非本手册中明确规定，否则本手册中的任何内容均不得解释为ABB对损失、人员或财产损害、特定用途适用性等的任何形式的保证或保证。在任何情况下，ABB均不对因使用本手册和本文所述产品而造成的附带或间接损害负责。未经ABB书面许可，不得复制或复制本手册及其部分内容。本手册的其他副本可从ABB获得。本手册的原始语言为英语。提供的任何其他语言均已从英语翻译而来。©版权所有2015-2023ABB。保留所有权利。规格如有更改，恕不另行通知。TableofcontentsReferencemanual,PaintcommandsandPLCinterfaceRW653HNA024494-001Rev.14©Copyright2015-2023ABB.Allrightsreserved.TableofcontentsTitlepagePreface1Introduction112Systemdescription132.1Overview........................................................................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....................................................