ABB M2004 - Page 51

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.