Define payload for a mechanical unit
MechUnitLoad
3HEA 802352-001 Rev. A 47
7 Define payload for a mechanical unit
7.1 MechUnitLoad
MechUnitLoad is used to define a payload for an 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.
When execution of ActUnit INTERCH should one MechUnitLoad for both axis 2
and axis 3 be executed.
Example
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.
ActUnit STN1;
MechUnitLoad STN1, 1, fixture1;
Activate mechanical unit STN1 and define the payload fixture1 corresponding to
fixture fixture1 mounted on axis 1.
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.
Figure 9 A mechanical unit named IRBP_L of type IRBP L.
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