RAPID reference manual - Technology

InstructionIndResetIndependent AxisThe instruction may also be used in normal mode in order to change the measurementsystem.Note that the position is used only to adjust the measurement system - the axis will notmove to the position.LimitationsThe instruction may only be executed when all active axes running in normal mode arestanding still. The independent mode axis which is going to be changed to normalmode must also be stationary. For axes in normal mode this is achieved by executinga move instruction with the argument fine. The independent axis is stopped by an Ind-CMove with Speed:=0 (followed by a wait period of 0.2 seconds), IndRMove, IndAMoveor IndDMove instruction.The resolution of positions is decreased when moving away from logical position 0.An axis which progressively rotates further and further from the position 0 should thusbe set to zero using the instruction IndReset with an argument other than \Old.The measurement system cannot be changed for linear axes.To ensure a proper start after IndReset of an axis with a relative measured measurementsystem (synchronization switches), an extra time delay of 0.12 seconds must be addedafter the IndReset instruction.Only robot axis 6 can be used as independent axis. The IndReset instruction can alsobe used for axis 4 on models IRB2400 and IRB 4400. If IndReset is used on robot axis4, then axis 6 must not be in the independent mode.ExampleIndAMove Station_A,1\ToAbsNum:=750,50;WaitUntil IndInpos(Station_A,1);WaitTime 0.2;IndReset Station_A,1 \RefNum:=0 \Short;.IndAMove Station_A,1\ToAbsNum:=750,50;WaitUntil IndInpos(Station_A,1);WaitTime 0.2;IndReset Station_A,1 \RefNum:=300 \Short;Axis 1 in Station_A is first moved independently to the 750 degrees position (2 revolutionsand 30 degrees). At the same time as it changes to normal mode, the logicalposition is set to 30 degrees.Axis 1 in Station_A is subsequently moved to the 750 degrees position (2 revolutionsand 30 degrees). At the same time as it changes to normal mode, the logical position isset to 390 degrees (1 revolution and 30 degrees).RAPID reference manual - part 1a, Instructions A-R 159