Define payload for a mechanical unit
Program execution
3HEA 802352-001 Rev. A
49
Example
MoveL homeside1, v1000, fine, gun1;
....
ActUnit INTERCH;
The whole mechanical unit INTERCH_K is activated.
MechUnitLoad INTERCH, 2, workpiece1;
Defines payload workpiece1 on the mechanical unit INTERCH axis 2.
MechUnitLoad INTERCH, 3, workpiece2;
Defines payload workpiece2 on the mechanical unit INTERCH axis 3.
MoveL homeside2, v1000, fine, gun1
The axes of the mechanical unit INTERCH move to the switch position homeside2
with mounted payload on both axes 2 and 3.
Figure 10 Payload mounted on the end-effector of a mechanical unit.
Figure 11 A mechanical unit named IRBP_K of type IRBP K with three axes.
Summary of Contents for M2004
Page 1: ...System Settings Welding Robot Station M2004 IRC5 3HEA 802352 001 Rev A...
Page 20: ...Speed data for external axes 18 3HEA 802352 001 Rev A...
Page 42: ...Drivers Service position 40 3HEA 802352 001 Rev A...
Page 54: ...Define payload for a mechanical unit Related information 52 3HEA 802352 001 Rev A...
Page 55: ......
Page 56: ...3HEA 802352 001 Rev A ABB...
