RAPID reference manual - Technology

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InstructionIndAMoveIndependent AxisExampleIndAMove Robot,6\ToAbsNum:=90,20;WaitUntil IndInpos(Station_A,1 ) = TRUE;WaitTime 0.2;IndDMove Station_A,2,-30,20;WaitUntil IndInpos(Station_A,1 ) = TRUE;WaitTime 0.2;IndDMove Station_A,2,400,20;Axis 6 of the robot is moved to the following positions:• 90 degrees• 60 degrees• 460 degrees (1 revolution + 100 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.SyntaxIndDMove[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’[ Axis’:=’ ] < expression (IN) of num> ’,’[ Delta’:=’ ] < expression (IN) of num>’,’[ Speed ’:=’ ] < expression (IN) of num>[ ’\’ Ramp’:=’ < expression (IN) of num > ] ’;’RAPID reference manual - part 1a, Instructions A-R 155
IndAMoveIndependent AxisInstructionRelated informationDescribed in:Independent axes in generalChange back to normal modeReset the measurement systemMove an independent axis to a specificCheck the speed status for independentaxesCheck the position status for independentaxesDefining independent jointsMotion and I/O Principles - Program executionInstructions - IndResetInstructions - IndResetInstructions - IndAMove, IndRMove positionFunctions - IndSpeedFunctions - IndInposSystem Parameters -Manipulator156 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
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InstructionErrLogAdvanced RAPIDErrL
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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 154 and 155: InstructionIndAMoveIndependent Axis
Page 156 and 157: InstructionIndCMoveIndependent Axis
Page 158 and 159: 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
Page 208 and 209: InstructionISignalGIRobotWare-OSISi
Page 210 and 211: 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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