ABB PP877K 3BSE069274R1 Good communication quality of touch panel power supply

Description

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Modifying positions of external axes
When programming external axes, you often need to adjust the position of the external axis
for some targets. For example, if you create a path from curves on a work piece that is
attached to a positioner, the positioner will initially have the same position for all targets. By
repositioning the work piece for some of the targets you might improve process time and
reachability.
When targets are created in stations with a coordinated external axis, the position values of
the external axis are stored in the target. With the Modify External Axis function you can
reposition the external axis, thus making it possible for the robot to reach the target in new
ways. For a procedure, see Modify External Axis on page 404.
To modify the external axis values for a target, the following conditions must be met:
• The external axis must be added to the system and set up correctly. For examples of
how to add support for an external axis to a system, see A system with support for one
robot and one positioner external axis on page 162. For information about how to set
up an external axis in a RobotStudio station, see Placing external axes on page 86.
• The external axis must be defined in the same task as the robot.
• The external axis must be activated.
Activation and deactivation
Activating a mechanical unit makes it controlled and monitored by the controller.
Consequently, the mechanical unit must be activated before programming or running
programs. If a system uses several external axes or interchangeable models with several work
stations, several mechanical units might share common drive units. If this is the case, you
must make sure to set the mechanical unit as active.
For more information about activating and deactivating mechanical units, see the RAPID
reference manual on the instructions ActUnit and DeactUnit.
Activating and deactivating mechanical units can be done either manually, see Activate
Mechanical Units on page 305, or programmatically by RAPID instructions, see below.
To activate or deactivate mechanical units programmatically
To set the mechanical units to be active programmatically by RAPID instructions, follow
these steps:
1. In the Paths&Targets browser, browse down to the path in which you want to insert the
activation or deactivation instruction. To insert it as the first instruction in the path, select
the path node and to insert it between existing instructions, select the instruction before
the intended insertion point.
2. On the Home tab, click Action Instruction to bring up a dialog box.
3. In the Instruction Templates list, select one of the ActUnit or DeactUnit instructions.
4. In the Instruction Arguments grid and the MechUnit list, select the unit to activate or
deactivate.
5. Click Create. When the path is executed either through the Move along path command,
or running the RAPID program, the instruction will be carried out.