Thank You Skooter
I have done some basic level if and then logic programing on ABB IRB foundry plus 2 models with IRC 5 controllers it .
Now I wil be working on Abb IRB 660 -250/3.5 , IRC 5 controller with following options
communication - Ethernet/IP
Robotware version RW6
World Zones : World zones
collision detection : collision detection