RAPID reference manual - Technology

InstructionIndDMoveIndependent AxisIndDMove - Independent delta position movementIndDMove is used to change an axis to independent mode and move the axis a specificdistance.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.If the axis is to be moved to a specific position, the instruction IndAMove or IndRMovemust be used instead.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExampleIndDMove Station_A,2,-30,20;Axis 2 of Station_A is moved 30 degrees in a negative direction at a speed of 20degrees/s.ArgumentsIndDMoveMecUnit Axis Delta 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).DeltaData type: numThe distance which the current axis is to be moved, expressed in degrees (mmfor linear axes). The sign specifies the direction of movement.SpeedData type: numAxis speed in degrees/s (mm/s for linear axis).[ \Ramp ] Data type: numDecrease acceleration and deceleration from maximum performance ( 1 - 100%, 100% = maximum performance).RAPID reference manual - part 1a, Instructions A-R 153