RAPID reference manual - Technology

InstructionIndAMoveIndependent AxisLimitationsAxes in independent mode cannot be jogged. If an attempt is made to execute the axismanually, the axis will not move, and an error message will be displayed. Execute anIndReset instruction or move the program pointer to main, in order to leave independentmode.If a loss of voltage occurs when an axis is in independent mode, the program cannot berestarted. An error message is displayed and the program must be started from thebeginning.The instruction is not advisable for coupled robot wrist axes (see Rapid ReferenceManual - Motion and I/O Principles - Positioning during Program Excution - IndependentAxes).ExampleActUnit Station_A;weld_stationA;IndAMove Station_A,1\ToAbsNum:=90,20\Ramp:=50;ActUnit Station_B;weld_stationB_1;WaitUntil IndInpos(Station_A,1 ) = TRUE;WaitTime 0.2;DeactUnit Station_A;weld_stationB_2;Station_A is activated and the welding is started in station A.Station_A (axis 1) is then moved to the 90 degrees position while the robot is weldingin station B. The speed of the axis is 20 degrees/s . The speed is changed with acceleration/decelerationreduced to 50% of max performance.When station A reaches this position, it is deactivated and reloading can take place inthe station at the same time as the robot continues to weld in station B.Error handlingIf the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT.This error can then be handled in the error handler.RAPID reference manual - part 1a, Instructions A-R 147