Arguments; Program Execution - ABB M2004 System Settings

MechUnitLoad Defines a payload for a mechanical unit

Arguments

7.1 Arguments
MechUnitLoad
The name of the mechanical unit.
The axis number, within the mechanical unit, that holds the load.
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.
32
MechUnit
MechUnit (Mechanical Unit) Data type: mecunit
AxisNo (Axis Number) Data type: num
Load Data type: loaddata
Figure 10. Payload mounted on the end-effector of a mechanical unit.
AxisNo Load
3HEA 801233-001 Rev.- 2005-08