ABB M2004 System Settings page 37

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.
7.3 Limitations
The movement instruction previous to this instruction should be terminated with a
stop point in order to make a restart in this instruction possible following a power
failure.
7.4 Syntax
[MechUnit':='] < variable (VAR) of mecunit>','
[AxisNo ':='] <expression (IN) of num ','
[ Load':='] < persistent (PERS) of loaddata >';'
3HEA 801233-001 Rev.- 2005-08
MechUnitLoad Defines a payload for 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
MechUnitLoad
Limitations
33