Basic Characteristics RAPID

ActUnit Activates a mechanical unit
Example
Arguments
ActUnit is used to activate a mechanical unit.
It can be used to determine which unit is to be active when, for example, common drive
units are used.
ActUnit orbit_a;
Activation of the orbit_a mechanical unit.
ActUnit MecUnit
MecUnit (Mechanical Unit) Data type: mecunit
Program execution
Limitations
The name of the mechanical unit that is to be activated.
When the robot and external axes have come to a standstill, the specified mechanical
unit is activated. This means that it is controlled and monitored by the robot.
If several mechanical units share a common drive unit, activation of one of these
mechanical units will also connect that unit to the common drive unit.
Instruction ActUnit cannot be used in
- program sequence StorePath ... RestoPath
- event routine RESTART
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.
RAPID Reference Manual 8-ActUnit-1