Application manual: Discrete Application Platform: Controller software IRC5 RobotWare 5.0

The option Discrete Application Developer’s Functions (DAP) provides a software framework for application software engineers.
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The package is an optimal tool for fast and straight forward development by providing a setup of specialized methods and datatypes in RAPID. It encapsulates motion and process execution in one RAPID-instruction call (see EG1ML/EG1MJ).
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The use of the package reduces application development costs and ensures a high quality level and optimal use of the IRC5-system.