ABB M2004 System Settings page 51

Example
....
The whole mechanical unit INTERCH_K is activated.
Defines payload workpiece1 on the mechanical unit INTERCH axis 2.
Defines payload workpiece2 on the mechanical unit INTERCH axis 3.
The axes of the mechanical unit INTERCH move to the switch position homeside2
with mounted payload on both axes 2 and 3.
3HEA 802352-001 Rev. A
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.
MoveL homeside1, v1000, fine, gun1;
ActUnit INTERCH;
MechUnitLoad INTERCH, 2, workpiece1;
MechUnitLoad INTERCH, 3, workpiece2;
MoveL homeside2, v1000, fine, gun1
Define payload for a mechanical unit
Program execution
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