digital camera ABB commnication

If your digital camera has a trigger input, you can wire it to a discrete output from the robot controller i/o. 

Make sure the voltages are compatible.  If they are not (for example, the controller i/o may be 24vdc and the camera trigger may be 12vdc) then use an isolation stage, like opto-isolator is a good choice. 

Also pay attention to the camera's trigger-state.  It is common for the trigger to operate in different modes, depending on camera settings. 

If the trigger is rising edge active, the one example of RAPID would be; Reset Camera_Trigger; PulseDo \High \PLength:=.03, Camera_Trigger;