RAPID reference manual - Technology

InstructionIndCMoveIndependent AxisIndCMove - Independent continuous movementIndCMove is used to change an axis to independent mode and start the axis movingcontinuously at a specific speed.An independent axis is an axis moving independently of other axes in the robot system.As program execution continues immediately, it is possible to execute other instructions(including positioning instructions) during the time the independent axis is moving.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExampleIndCMove Station_A,2,-30.5;Axis 2 of Station_A starts to move in a negative direction at a speed of 30.5degrees/s.ArgumentsIndCMoveMecUnit Axis Speed [\Ramp]MecUnit (Mechanical Unit) Data type: mecunitThe name of the mechanical unit.AxisData type: numThe number of the current axis for the mechanical unit (1-6).SpeedData type: numAxis speed in degrees/s (mm/s for linear axis).The direction of movement is specified as the sign of the speed argument.[ \Ramp ] Data type: numDecrease acceleration and deceleration from maximum performance ( 1 - 100%, 100% = maximum performance).RAPID reference manual - part 1a, Instructions A-R 149