Basic Characteristics RAPID

DeactUnit Deactivates a mechanical unit
Examples
Arguments
DeactUnit is used to deactivate a mechanical unit.
It can be used to determine which unit is to be active when, for example, common drive
units are used.
DeactUnit 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.
DeactUnit MecUnit
MecUnit (Mechanical Unit) Data type: mecunit
Program execution
The name of the mechanical unit that is to be deactivated.
When the robot and external axes have come to a standstill, the specified mechanical
unit is deactivated. This means that it will neither be controlled nor monitored until it
is re-activated.
If several mechanical units share a common drive unit, deactivation of one of the
mechanical units will also disconnect that unit from the common drive unit.
RAPID Reference Manual 8-DeactUnit-1