RAPID reference manual - Technology

InstructionIndResetIndependent AxisIndReset - Independent resetIndReset is used to change an independent axis back to normal mode. At the same time,the measurement system for rotational axes can be moved a number of axis revolutions.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExampleIndCMove Station_A,2,5;MoveL *,v1000,fine,tool1;IndCMove Station_A,2,0;WaitUntil IndSpeed(Station_A,2\ZeroSpeed);WaitTime 0.2IndReset Station_A,2;Axis 2 of Station _A is first moved in independent mode and then changed back to normalmode. The axis will keep its position.Note that the current independent axis, and the normal axes, should not move when theinstruction IndReset is executed. This is because the previous position is a stop point,and an IndCMove instruction is executed at zero speed. Furthermore, a pause of 0.2seconds is used to ensure that the correct status has been achieved.ArgumentsIndReset MecUnit Axis [\RefPos] | [\RefNum] [\Short] |[\Fwd] |[\Bwd] | \Old]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).[ \RefPos ] (Reference Position) Data type: robtargetAxis position specified as a robtarget. Only the component for this specific axisis used. The position must be inside the normal working range.For robot axes, the argument \RefNum is to be used instead.RAPID reference manual - part 1a, Instructions A-R 157