ABB IRBP, Product Manual

Page: 300 / 334

MechUnit
Mechanical Unit
Data type:
mecunit
The name of the mechanical unit
AxisNo
Axis Number
Data type:
num
The axis number, within the mechanical unit, that holds the load.
Load
Data type:
loaddata
The load data that describes the current payload to be defined.
Program execution
After execution of
MechUnitLoad
, when the robot and additional axes have come
to a standstill, the specified load is defined for the specified mechanical unit and
axis. This meansthat the payload is controlled and monitored by the control system.
The default payload at cold start for a certain mechanical unit type, is the predefined
maximalpayload for this mechanical unit type.
When another payload is used the actual payload for the mechanical unit and axis
should beredefined with this instruction. This should always be done after activation
of the mechanicalunit.
The defined payload will survive a power failure restart. The defined payload will
also survive a restart of the program after manual activation of other mechanical
units from the jogging window.
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300 Product manual - IRBP /D2009
3HAC037731-001 Revision: T
© Copyright 2010-2020 ABB. All rights reserved.
8 Calibration information
8.9.6 Define payload for a mechanical unit
Continued