ABB IRBP, Product Manual

Page: 299 / 334

8.9.6 Define payload for a mechanical unit
Description of MechUnitLoad
The instruction
MechUnitLoad
is used to define a payload for an additional axis
(external mechanical unit). The payload for the robot is defined with instruction
GripLoad
. When using the drivers
MechUnitLoad
is built in.
This instruction should be used for all mechanical units with dynamic model in
servo to achieve the best motion performance.
The
MechUnitLoad
instruction should always be executed after execution of the
instruction
ActUnit
.
The axis closest to the payload should be selected in the
MechUnitLoad
instruction.
While executing
ActUnit INTERCH
one
MechUnitLoad
should be executed for
axis 2 and axis 3.
Examples
Basic examples of the instruction
MechUnitLoad
are illustrated below.
The following figure shows axis 1 on a mechanical unit named STN1 of type IRBP
L.
xx0500002142
Example 1
ActUnit STN1;
MechUnitLoad STN1, 1, load0;
Activate mechanical unit STN1 and define the payload load0 corresponding to no
load (at all) mounted on axis 1.
Example 2
ActUnit STN1;
MechUnitLoad STN1, 1, fixture1;
Activate mechanical unit STN1 and define the payload fixture1 corresponding to
fixture fixture1 mounted on axis 1.
Example 3
ActUnit STN1;
MechUnitLoad STN1, 1, workpiece1;
Activate mechanical unit STN1 and define the payload workpiece1 corresponding
to fixture and work piece named workpiece1 mounted on axis 1.
Arguments
MechUnitLoad MechUnit AxisNo Load
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Product manual - IRBP /D2009 299
3HAC037731-001 Revision: T
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8 Calibration information
8.9.6 Define payload for a mechanical unit