RAPID reference manual - Technology

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InstructionIndCMoveIndependent AxisExampleIndCMove Station_A,2,20;WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE;WaitTime 0.2;MoveL p10, v1000, fine, tool1;IndCMove Station_A,2,-10\Ramp:=50;MoveL p20, v1000, z50, tool1;IndRMove Station_A,2 \ToRelPos:=p1 \Short,10;MoveL p30, v1000, fine, tool1;WaitUntil IndInpos(Station_A,2 ) = TRUE;WaitTime 0.2;IndReset Station_A,2 \RefPos:=p40\Short;MoveL p40, v1000, fine, tool1;Axis 2 of Station_A starts to move in a positive direction at a speed of 20 degrees/s.When this axis has reached the selected speed the robot axes start to move.When the robot reaches position p10, the external axis changes direction and rotates ata speed of 10 degrees/s . The change of speed is performed with acceleration/decelerationreduced to 50% of maximum performance. At the same time, the robot executestowards p20.Axis 2 of Station_A is then stopped as quickly as possible in position p1 within the currentrevolution.When axis 2 has reached this position, and the robot has stopped in position p30, axis2 returns to normal mode again. The measurement system offset for this axis ischanged a whole number of axis revolutions so that the actual position is as close aspossible to p40.When the robot is then moved to position p40, axis 2 of Station_A will be moved viathe shortest route to position p40 (max r180 degrees).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.SyntaxIndCMove[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’[ Axis’:=’ ] < expression (IN) of num> ’,’[ Speed ’:=’ ] < expression (IN) of num>[ ’\’ Ramp’:=’ < expression (IN) of num > ] ’;’RAPID reference manual - part 1a, Instructions A-R 151
IndCMoveIndependent AxisInstructionRelated informationDescribed in:Independent axes in generalChange back to normal modeReset the measurement systemMove an independent axis to a specificMove an independent axis a specificCheck the speed status for independentaxesCheck the position status for independentaxesDefining independent jointsMotion and I/O Principles - Program executionInstructions - IndResetInstructions - IndResetInstructions - IndAMove, IndRMove positionInstructions - IndDMove distanceFunctions - IndSpeedFunctions - IndInposSystem Parameters -Manipulator152 RAPID reference manual - part 1a, Instructions A-R
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RAPID reference manualRAPID referen
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The information in this manual is s
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ContentsEOffsOff - Deactivates an o
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InstructionAccSetRobotWare-OSAccSet
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InstructionActUnitRobotWare-OSActUn
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AddRobotWare-OSInstructionRelated i
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AliasIOAdvanced RAPIDToSignalData t
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AliasIOAdvanced RAPIDInstruction10
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“:=”RobotWare-OSInstructionLimi
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BitClearAdvanced RAPIDInstructionLi
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BitSetAdvanced RAPIDInstructionLimi
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BookErrNoAdvanced RAPIDInstructionL
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BreakRobotWare-OSInstruction20 RAPI
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CallByVarRobotWare-OSInstructionDyn
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CallByVarRobotWare-OSInstruction24
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CancelLoadRobotWare-OSInstructionSy
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CirPathModeRobotWare-OSInstructionU
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CirPathModeRobotWare-OSInstructionL
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ClearRobotWare-OSInstruction32 RAPI
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ClearIOBuffFile and Serial Channel
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ClearPathRobotWare-OSInstructionPRO
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ClearRawBytesFile and Serial Channe
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ClkResetRobotWare-OSInstruction40 R
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ClkStartRobotWare-OSInstructionErro
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ClkStopRobotWare-OSInstructionRelat
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CloseFile and Serial Channel Handli
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CloseDirFile and Serial Channel Han
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commentRobotWare-OSInstruction50 RA
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Compact IFRobotWare-OSInstruction52
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ConfJRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstruction58 RAPI
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InstructionCopyFileFile and Serial
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InstructionCopyRawBytesFile and Ser
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InstructionCopyRawBytesFile and Ser
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InstructionCorrClearPath offset & R
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CorrConPath offset & RobotWare-Arc
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InstructionCorrWritePath offset & R
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InstructionDeactUnitRobotWare-OSDea
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InstructionDecrRobotWare-OSDecr - D
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InstructionDitherActRobotWare-OSDit
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InstructionDitherActRobotWare-OSRel
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InstructionDitherDeactRobotWare-OSD
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InstructionDropSensorSensor Synchro
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InstructionDropWObjConveyor Trackin
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InstructionEOffsOffRobotWare-OSEOff
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InstructionEOffsOnRobotWare-OSEOffs
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InstructionEOffsSetRobotWare-OSEOff
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InstructionEraseModuleRobotWare-OSE
Page 108 and 109: InstructionErrLogAdvanced RAPIDErrL
Page 110 and 111: InstructionErrLogAdvanced RAPIDArgu
Page 112 and 113: InstructionErrRaiseAdvanced RAPIDEr
Page 114 and 115: InstructionErrRaiseAdvanced RAPIDAr
Page 116 and 117: InstructionErrWriteRobotWare-OSErrW
Page 118 and 119: InstructionEXITRobotWare-OSEXIT - T
Page 120 and 121: InstructionExitCycleRobotWare-OSExi
Page 122 and 123: InstructionFORRobotWare-OSFOR - Rep
Page 124 and 125: InstructionFORRobotWare-OSSyntax(EB
Page 126 and 127: InstructionGetDataValAdvanced RAPID
Page 128 and 129: InstructionGetSysDataRobotWare-OSGe
Page 130 and 131: InstructionGetTrapDataAdvanced RAPI
Page 132 and 133: InstructionGOTORobotWare-OSGOTO - G
Page 134 and 135: InstructionGripLoadRobotWare-OSGrip
Page 136 and 137: InstructionHollowWristResetRobotWar
Page 138 and 139: InstructionIDeleteRobotWare-OSIDele
Page 140 and 141: InstructionIDisableRobotWare-OSIDis
Page 142 and 143: InstructionIEnableRobotWare-OSIEnab
Page 144 and 145: InstructionIErrorAdvanced RAPIDIErr
Page 146 and 147: InstructionIErrorAdvanced RAPIDLimi
Page 148 and 149: InstructionIFRobotWare-OSIF - If a
Page 150 and 151: InstructionIncrRobotWare-OSIncr - I
Page 152 and 153: InstructionIndAMoveIndependent Axis
Page 156 and 157: InstructionIndCMoveIndependent Axis
Page 160 and 161: InstructionIndDMoveIndependent Axis
Page 164 and 165: InstructionIndResetIndependent Axis
Page 166 and 167: InstructionIndResetIndependent Axis
Page 168 and 169: InstructionIndRMoveIndependent Axis
Page 174 and 175: InstructionInvertDORobotWare-OSInve
Page 176 and 177: InstructionIODisableRobotWare-OSIOD
Page 178 and 179: InstructionIODisableRobotWare-OSSyn
Page 180 and 181: InstructionIOEnableRobotWare-OSIOEn
Page 182 and 183: InstructionIOEnableRobotWare-OSRela
Page 184 and 185: InstructionIPersAdvanced RAPIDIPers
Page 186 and 187: InstructionISignalAIAnalog Signal I
Page 196 and 197: InstructionISignalAOAnalog Signal I
Page 198 and 199: InstructionISignalAOAnalog Signal I
Page 200 and 201: InstructionISignalDIRobotWare-OSISi
Page 202 and 203: InstructionISignalDIRobotWare-OSLim
Page 204 and 205: InstructionISignalDORobotWare-OSISi
Page 206 and 207: InstructionISignalDORobotWare-OSLim
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InstructionISignalGIRobotWare-OSISi
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InstructionISignalGIRobotWare-OSSyn
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InstructionISignalGORobotWare-OSISi
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InstructionISignalGORobotWare-OSRel
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InstructionISleepRobotWare-OSISleep
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InstructionIsPersBase WareIsPers -
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InstructionITimerRobotWare-OSITimer
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InstructionITimerRobotWare-OSRelate
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InstructionIVarValueSensor Interfac
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InstructionIVarValueSensor Interfac
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InstructionIWatchRobotWare-OSIWatch
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InstructionlabelRobotWare-OSlabel -
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InstructionLoadRobotWare-OSLoad - L
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InstructionLoadRobotWare-OS%”rout
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InstructionLoadIdRobotWare-OSLoadId
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InstructionLoadIdRobotWare-OSArgume
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InstructionLoadIdRobotWare-OSExampl
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InstructionMakeDirFile and Serial C
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InstructionManLoadIdProcRobotWare-O
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InstructionManLoadIdProcRobotWare-O
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InstructionMechUnitLoadRobotWare-OS
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InstructionMechUnitLoadRobotWare-OS
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InstructionMotionSupCollision Detec
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InstructionMotionSupCollision Detec
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InstructionMoveAbsJRobotWare-OSMove
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InstructionMoveAbsJRobotWare-OS[ \Z
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InstructionMoveAbsJRobotWare-OSSing
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InstructionMoveCRobotWare-OSMoveC -
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InstructionMoveCRobotWare-OS[ \V ]
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InstructionMoveCRobotWare-OSMoveC p
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InstructionMoveCDORobotWare-OSMoveC
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InstructionMoveCDORobotWare-OS.CirP
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InstructionMoveCSyncFixed Position
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InstructionMoveCSyncFixed Position
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InstructionMoveExtJRobotWare-OSMove
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InstructionMoveExtJRobotWare-OSExam
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InstructionMoveJRobotWare-OSMoveJ -
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InstructionMoveJRobotWare-OS[ \WObj
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InstructionMoveJDORobotWare-OSMoveJ
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InstructionMoveJDORobotWare-OSMoveJ
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InstructionMoveJSyncFixed Position
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InstructionMoveJSyncFixed Position
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InstructionMoveLRobotWare-OSMoveL -
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InstructionMoveLRobotWare-OS[ \WObj
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InstructionMoveLRobotWare-OSRelated
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InstructionMoveLDORobotWare-OSMoveL
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InstructionMoveLDORobotWare-OSsigna
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InstructionMoveLSyncFixed Position
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InstructionMoveLSyncFixed Position
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InstructionMToolRotCalibRobotWare-O
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InstructionMToolRotCalibRobotWare-O
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InstructionMToolTCPCalibRobotWare-O
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InstructionMToolTCPCalibRobotWare-O
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InstructionOpenFile and Serial Chan
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InstructionOpenFile and Serial Chan
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InstructionOpenDirFile and Serial C
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InstructionPackDNHeaderFieldbus Com
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InstructionPackDNHeaderFieldbus Com
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InstructionPackRawBytesFile and Ser
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InstructionPathAccLimRobotWare-OSPa
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InstructionPathAccLimRobotWare-OSEx
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InstructionPathRecMoveBwdPath Recov
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InstructionPathRecMoveBwdPath Recov
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InstructionPathRecMoveFwdPath Recov
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InstructionPathRecMoveFwdPath Recov
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InstructionPathRecStartPath Recover
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InstructionPathRecStartPath Recover
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InstructionPathRecStopPath Recovery
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InstructionPathRecStopPath Recovery
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InstructionPathResolRobotWare-OSPat
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InstructionPathResolRobotWare-OSRel
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InstructionPDispOffRobotWare-OSPDis
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InstructionPDispOnRobotWare-OSPDisp
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InstructionPDispOnRobotWare-OSexecu
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InstructionPDispSetRobotWare-OSPDis
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InstructionPDispSetRobotWare-OSRela
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InstructionProcerrRecoveryAdvanced
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InstructionProcCallRobotWare-OSProc
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InstructionPulseDORobotWare-OSPulse
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InstructionPulseDORobotWare-OSLimit
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InstructionRAISERobotWare-OSRAISE -
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InstructionRaiseToUserRobotWare-OSR
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InstructionRaiseToUserRobotWare-OST
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InstructionReadAnyBinFile and Seria
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InstructionReadAnyBinFile and Seria
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InstructionReadBlockSensor Interfac
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InstructionReadCfgDataAdvanced RAPI
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InstructionReadErrDataAdvanced RAPI
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InstructionReadErrDataAdvanced RAPI
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InstructionReadRawBytesFile and Ser
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InstructionReadRawBytesFile and Ser
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InstructionRemoveDirFile and Serial
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InstructionRemoveFileFile and Seria
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InstructionRenameFileFile and Seria
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InstructionResetRobotWare-OSReset -
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InstructionRestoPathPath RecoveryRe
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InstructionRETURNRobotWare-OSRETURN
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InstructionRewindFile and Serial Ch
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InstructionRETRYRobotWare-OSRETRY -
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IndexAacceleration reduction 1, 323
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IndexRemoveDir 391RemoveFile 393rep
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ABB Automation Technologies ABRobot
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