RAPID reference manual - Technology

IndAMoveIndependent AxisInstructionProgram executionWhen IndAMove is executed, the specified axis starts to move at the programmed speedfor the specified distance. The direction of movement is specified as the sign of theDelta argument. If \Ramp is programmed there will be a reduction of acceleration/deceleration.If the axis is moving, the new position is calculated from the momentary position of theaxis, when the instruction IndDMove is executed. If an IndDMove instruction with distance0 is executed, the axis will stop and then move back to the position which the axishad when the instruction was executed.To change the axis back to normal mode, the IndReset instruction is used. The logicalposition of the axis can be changed in connection with this - a number of full revolutionscan be erased from the position, for example, to avoid rotating back for the nextmovement.The speed can be changed by running a further IndDMove instruction (or anotherInd_Move instruction). If a speed in the opposite direction is selected, the axis stops andthen accelerates to the new speed and direction.During stepwise execution of the instruction, the axis is set in independent mode only.The axis starts its movement when the next instruction is executed, and continues aslong as program execution continues. For more information see Chapter 6, Motion andI/O principles.When the program pointer is moved to the beginning of the program, or to a new routine,all axes are automatically set to normal mode, without changing the measurementsystem (equivalent to running the instruction IndReset \Old).LimitationsAxes 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 the axis is in independent mode, the program cannotbe restarted. 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).154 RAPID reference manual - part 1a, Instructions A-R