Define payload for a mechanical unit
Program execution
48 3HEA 802352-001 Rev. A
Arguments
MechUnitLoad MechUnit AxisNo Load
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.
7.2 Program execution
After execution of MechUnitLoad, when the robot and external axes have come to
a standstill, the specified load is defined for the specified mechanical unit and axis.
This means that the payload is controlled and monitored by the control system.
The default payload at cold start-up, for a certain mechanical unit type, is the pre-
defined maximal payload for this mechanical unit type.
When some other payload is used, the actual payload for the mechanical unit and
axis should be redefined with this instruction. This should always be done after
activation of the mechanical unit.
MechUnit Load, MechUnit, AxisNo, Load
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.
Data type:
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