Define Payload For A Mechanical Unit - ABB IRBP Product Manual

8.9.6 Define payload for a mechanical unit

Description of MechUnitLoad
The instruction MechUnitLoad is used to define a payload for an additional axis
(external mechanical unit). The payload for the robot is defined with instruction
GripLoad. When using the drivers MechUnitLoad is built in.
This instruction should be used for all mechanical units with dynamic model in
servo to achieve the best motion performance.
The MechUnitLoad instruction should always be executed after execution of the
instruction ActUnit.
The axis closest to the payload should be selected in the MechUnitLoad instruction.
While executing ActUnit INTERCH one MechUnitLoad should be executed for
axis 2 and axis 3.
Examples
Basic examples of the instruction MechUnitLoad are illustrated below.
The following figure shows axis 1 on a mechanical unit named STN1 of type IRBP
L.
xx0500002142
Example 1
Activate mechanical unit STN1 and define the payload load0 corresponding to no
load (at all) mounted on axis 1.
Example 2
Activate mechanical unit STN1 and define the payload fixture1 corresponding to
fixture fixture1 mounted on axis 1.
Example 3
Activate mechanical unit STN1 and define the payload workpiece1 corresponding
to fixture and work piece named workpiece1 mounted on axis 1.
Arguments
Product manual - IRBP /D2009
3HAC037731-001 Revision: T
ActUnit STN1;
MechUnitLoad STN1, 1, load0;
ActUnit STN1;
MechUnitLoad STN1, 1, fixture1;
ActUnit STN1;
MechUnitLoad STN1, 1, workpiece1;
MechUnitLoad MechUnit AxisNo Load
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8 Calibration information
8.9.6 Define payload for a mechanical unit
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