RAPID reference manual - Technology

InstructionDeactUnitRobotWare-OSDeactUnit - Deactivates a mechanical unitDeactUnit is used to deactivate a mechanical unit.It can be used to determine which unit is to be active when, for example, common driveunits are used.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesDeactUnit orbit_a;Deactivation of the orbit_a mechanical unit.MoveL p10, v100, fine, tool1;DeactUnit track_motion;MoveL p20, v100, z10, tool1;MoveL p30, v100, fine, tool1;ActUnit track_motion;MoveL p40, v100, z10, tool1;The unit track_motion will be stationary when the robot moves to p20 and p30.After this, both the robot and track_motion will move to p40.MoveL p10, v100, fine, tool1;DeactUnit orbit1;ActUnit orbit2;MoveL p20, v100, z10, tool1;The unit orbit1 is deactivated and orbit2 activated.ArgumentsDeactUnitMechUnitMechUnit (Mechanical Unit) Data type: mecunitThe name of the mechanical unit that is to be deactivated.RAPID reference manual - part 1a, Instructions A-R 79