RAPID reference manual - Technology

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InstructionPathRecMoveBwdPath RecoveryFigure 25 This example shows how the path recorder can be utilized to extract the robotfrom narrow spaces upon error without programming a designated path.A part is being manufactured. At the approach point, p0, the path recorder is startedand given the path recorder identifier safe_id. Assume that when the robot moves fromp3 to p4 and recoverable error arise. At that point, the path is stored by executing Store-Path. By storing the path the error handler can start a new movement and later onrestart the original movement. When the path has been stored the path recorder is usedto move the robot out to the safe position, p0, by executing PathRecMoveBwd.Note that a tool offset is applied to provide clearance from for example a newly addedweld. When the robot has been moved out the operator can do what is necessary to fixthe error (for example clean the torch of welding). Then, the robot is moved back tothe error location by the means of PathRecMoveFwd. At the error location the pathlevel is switched back to base level by RestoPath and a retry attempt is made.Limitations- Movements using the path recorder has to be performed on trap-level, i.e. Store-Path has to executed prior to PathRecMoveBwd.- If it is not desired to return to the point where PathRecMoveBwd was executed(by executing PathRecMoveFwd) the PathRecorder has to be stopped by themeans of PathRecStop.RAPID reference manual - part 1a, Instructions A-R 329
PathRecMoveBwdPath RecoveryInstructionSyntaxPathRecMoveBwd [ ‘\’ ID ‘:=’ < variable (VAR) of pathrecid > ][ ‘\’ ToolOffs ‘:=’ ][ ‘\’ Speed ‘:=’ ]’;’Related informationDescribed in:Path Recorder IdentifiersStart - stop the path recorderCheck for valid recorded pathMove path recorder forwardStore - restore pathsOther positioning instructionsError RecoveryData types - pathrecidInstructions - PathRecStart, PathRecStopFunctions - PathRecValidBwd, PathRecValidFwdInstructions - PathRecMoveFwdInstructions - StorePath , RestoPathRAPID Summary - MotionRAPID Summary - Error Recovery, Basic Characteristics- Error Recovery330 RAPID reference manual - part 1a, Instructions A-R
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RAPID reference manualRAPID referen
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The information in this manual is s
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ContentsEOffsOff - Deactivates an o
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InstructionAccSetRobotWare-OSAccSet
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InstructionActUnitRobotWare-OSActUn
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AddRobotWare-OSInstructionRelated i
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AliasIOAdvanced RAPIDToSignalData t
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AliasIOAdvanced RAPIDInstruction10
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“:=”RobotWare-OSInstructionLimi
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BitClearAdvanced RAPIDInstructionLi
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BitSetAdvanced RAPIDInstructionLimi
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BookErrNoAdvanced RAPIDInstructionL
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BreakRobotWare-OSInstruction20 RAPI
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CallByVarRobotWare-OSInstructionDyn
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CallByVarRobotWare-OSInstruction24
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CancelLoadRobotWare-OSInstructionSy
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CirPathModeRobotWare-OSInstructionU
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CirPathModeRobotWare-OSInstructionL
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ClearRobotWare-OSInstruction32 RAPI
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ClearIOBuffFile and Serial Channel
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ClearPathRobotWare-OSInstructionPRO
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ClearRawBytesFile and Serial Channe
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ClkResetRobotWare-OSInstruction40 R
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ClkStartRobotWare-OSInstructionErro
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ClkStopRobotWare-OSInstructionRelat
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CloseFile and Serial Channel Handli
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CloseDirFile and Serial Channel Han
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commentRobotWare-OSInstruction50 RA
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Compact IFRobotWare-OSInstruction52
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ConfJRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstruction58 RAPI
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InstructionCopyFileFile and Serial
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InstructionCopyRawBytesFile and Ser
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InstructionCopyRawBytesFile and Ser
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InstructionCorrClearPath offset & R
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CorrConPath offset & RobotWare-Arc
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InstructionCorrWritePath offset & R
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InstructionDeactUnitRobotWare-OSDea
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InstructionDecrRobotWare-OSDecr - D
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InstructionDitherActRobotWare-OSDit
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InstructionDitherActRobotWare-OSRel
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InstructionDitherDeactRobotWare-OSD
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InstructionDropSensorSensor Synchro
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InstructionDropWObjConveyor Trackin
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InstructionEOffsOffRobotWare-OSEOff
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InstructionEOffsOnRobotWare-OSEOffs
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InstructionEOffsSetRobotWare-OSEOff
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InstructionEraseModuleRobotWare-OSE
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InstructionErrLogAdvanced RAPIDErrL
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InstructionErrLogAdvanced RAPIDArgu
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InstructionErrRaiseAdvanced RAPIDEr
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InstructionErrRaiseAdvanced RAPIDAr
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InstructionErrWriteRobotWare-OSErrW
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InstructionEXITRobotWare-OSEXIT - T
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InstructionExitCycleRobotWare-OSExi
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InstructionFORRobotWare-OSFOR - Rep
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InstructionFORRobotWare-OSSyntax(EB
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InstructionGetDataValAdvanced RAPID
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InstructionGetSysDataRobotWare-OSGe
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InstructionGetTrapDataAdvanced RAPI
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InstructionGOTORobotWare-OSGOTO - G
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InstructionGripLoadRobotWare-OSGrip
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InstructionHollowWristResetRobotWar
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InstructionIDeleteRobotWare-OSIDele
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InstructionIDisableRobotWare-OSIDis
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InstructionIEnableRobotWare-OSIEnab
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InstructionIErrorAdvanced RAPIDIErr
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InstructionIErrorAdvanced RAPIDLimi
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InstructionIFRobotWare-OSIF - If a
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InstructionIncrRobotWare-OSIncr - I
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InstructionIndAMoveIndependent Axis
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InstructionIndCMoveIndependent Axis
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InstructionIndCMoveIndependent Axis
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InstructionIndDMoveIndependent Axis
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InstructionIndResetIndependent Axis
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InstructionIndResetIndependent Axis
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InstructionIndRMoveIndependent Axis
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InstructionInvertDORobotWare-OSInve
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InstructionIODisableRobotWare-OSIOD
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InstructionIODisableRobotWare-OSSyn
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InstructionIOEnableRobotWare-OSIOEn
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InstructionIOEnableRobotWare-OSRela
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InstructionIPersAdvanced RAPIDIPers
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InstructionISignalAIAnalog Signal I
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InstructionISignalAOAnalog Signal I
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InstructionISignalAOAnalog Signal I
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InstructionISignalDIRobotWare-OSISi
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InstructionISignalDIRobotWare-OSLim
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InstructionISignalDORobotWare-OSISi
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InstructionISignalDORobotWare-OSLim
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InstructionISignalGIRobotWare-OSISi
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InstructionISignalGIRobotWare-OSSyn
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InstructionISignalGORobotWare-OSISi
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InstructionISignalGORobotWare-OSRel
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InstructionISleepRobotWare-OSISleep
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InstructionIsPersBase WareIsPers -
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InstructionITimerRobotWare-OSITimer
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InstructionITimerRobotWare-OSRelate
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InstructionIVarValueSensor Interfac
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InstructionIVarValueSensor Interfac
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InstructionIWatchRobotWare-OSIWatch
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InstructionlabelRobotWare-OSlabel -
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InstructionLoadRobotWare-OSLoad - L
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InstructionLoadRobotWare-OS%”rout
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InstructionLoadIdRobotWare-OSLoadId
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InstructionLoadIdRobotWare-OSArgume
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InstructionLoadIdRobotWare-OSExampl
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InstructionMakeDirFile and Serial C
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InstructionManLoadIdProcRobotWare-O
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InstructionManLoadIdProcRobotWare-O
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InstructionMechUnitLoadRobotWare-OS
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InstructionMechUnitLoadRobotWare-OS
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InstructionMotionSupCollision Detec
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InstructionMotionSupCollision Detec
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InstructionMoveAbsJRobotWare-OSMove
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InstructionMoveAbsJRobotWare-OS[ \Z
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InstructionMoveAbsJRobotWare-OSSing
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InstructionMoveCRobotWare-OSMoveC -
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InstructionMoveCRobotWare-OS[ \V ]
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InstructionMoveCRobotWare-OSMoveC p
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InstructionMoveCDORobotWare-OSMoveC
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InstructionMoveCDORobotWare-OS.CirP
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InstructionMoveCSyncFixed Position
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InstructionMoveCSyncFixed Position
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InstructionMoveExtJRobotWare-OSMove
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InstructionMoveExtJRobotWare-OSExam
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InstructionMoveJRobotWare-OSMoveJ -
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InstructionMoveJRobotWare-OS[ \WObj
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InstructionMoveJDORobotWare-OSMoveJ
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Page 288 and 289: InstructionMoveJSyncFixed Position
Page 290 and 291: InstructionMoveJSyncFixed Position
Page 292 and 293: InstructionMoveLRobotWare-OSMoveL -
Page 294 and 295: InstructionMoveLRobotWare-OS[ \WObj
Page 296 and 297: InstructionMoveLRobotWare-OSRelated
Page 298 and 299: InstructionMoveLDORobotWare-OSMoveL
Page 300 and 301: InstructionMoveLDORobotWare-OSsigna
Page 302 and 303: InstructionMoveLSyncFixed Position
Page 304 and 305: InstructionMoveLSyncFixed Position
Page 306 and 307: InstructionMToolRotCalibRobotWare-O
Page 308 and 309: InstructionMToolRotCalibRobotWare-O
Page 310 and 311: InstructionMToolTCPCalibRobotWare-O
Page 312 and 313: InstructionMToolTCPCalibRobotWare-O
Page 314 and 315: InstructionOpenFile and Serial Chan
Page 316 and 317: InstructionOpenFile and Serial Chan
Page 318 and 319: InstructionOpenDirFile and Serial C
Page 320 and 321: InstructionPackDNHeaderFieldbus Com
Page 322 and 323: InstructionPackDNHeaderFieldbus Com
Page 324 and 325: InstructionPackRawBytesFile and Ser
Page 330 and 331: InstructionPathAccLimRobotWare-OSPa
Page 332 and 333: InstructionPathAccLimRobotWare-OSEx
Page 334 and 335: InstructionPathRecMoveBwdPath Recov
Page 338 and 339: InstructionPathRecMoveFwdPath Recov
Page 340 and 341: InstructionPathRecMoveFwdPath Recov
Page 342 and 343: InstructionPathRecStartPath Recover
Page 344 and 345: InstructionPathRecStartPath Recover
Page 346 and 347: InstructionPathRecStopPath Recovery
Page 348 and 349: InstructionPathRecStopPath Recovery
Page 350 and 351: InstructionPathResolRobotWare-OSPat
Page 352 and 353: InstructionPathResolRobotWare-OSRel
Page 354 and 355: InstructionPDispOffRobotWare-OSPDis
Page 356 and 357: InstructionPDispOnRobotWare-OSPDisp
Page 358 and 359: InstructionPDispOnRobotWare-OSexecu
Page 360 and 361: InstructionPDispSetRobotWare-OSPDis
Page 362 and 363: InstructionPDispSetRobotWare-OSRela
Page 364 and 365: InstructionProcerrRecoveryAdvanced
Page 370 and 371: InstructionProcCallRobotWare-OSProc
Page 372 and 373: InstructionPulseDORobotWare-OSPulse
Page 374 and 375: InstructionPulseDORobotWare-OSLimit
Page 376 and 377: InstructionRAISERobotWare-OSRAISE -
Page 378 and 379: InstructionRaiseToUserRobotWare-OSR
Page 380 and 381: InstructionRaiseToUserRobotWare-OST
Page 382 and 383: InstructionReadAnyBinFile and Seria
Page 384 and 385: InstructionReadAnyBinFile and Seria
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InstructionReadBlockSensor Interfac
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InstructionReadCfgDataAdvanced RAPI
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InstructionReadErrDataAdvanced RAPI
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InstructionReadErrDataAdvanced RAPI
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InstructionReadRawBytesFile and Ser
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InstructionReadRawBytesFile and Ser
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InstructionRemoveDirFile and Serial
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InstructionRemoveFileFile and Seria
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InstructionRenameFileFile and Seria
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InstructionResetRobotWare-OSReset -
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InstructionRestoPathPath RecoveryRe
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InstructionRETURNRobotWare-OSRETURN
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InstructionRewindFile and Serial Ch
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InstructionRETRYRobotWare-OSRETRY -
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IndexAacceleration reduction 1, 323
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IndexRemoveDir 391RemoveFile 393rep
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ABB Automation Technologies ABRobot
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