ABB IRBP, Руководство по эксплуатации продукта

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Example 3
MechUnitLoad INTERCH, 3, workpiece2;
Defines payload workpiece2 on the mechanical unit INTERCH axis 3.
Example 4
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.
Limitations
If this instruction is preceded by a move instruction, that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart
after power failure will not be possible.
MechUnitLoad
cannot be executed in a RAPID routine connected to any of the
following special system events: PowerOn, Stop, QStop, Restart or Step.
Syntax
MechUnitLoad
[ MechUnit ':='] < variable (VAR) of mecunit> ','
[ AxisNo ':='] <expression (IN) of num ','
[ Load ':='] < persistent (PERS) of loaddata> ';'
Related information
Described in Information
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
, data type
mecunit
Mechanical units
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
, data type
loaddata
Definition of load data
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
, instruction
GripLoad
and data type
tooldata
Definition of payload for the robot
Product manual - IRBP /D2009 303
3HAC037731-001 Revision: T
© Copyright 2010-2020 ABB. All rights reserved.
8 Calibration information
8.9.6 Define payload for a mechanical unit
Continued