RAPID reference manual - Technology

InstructionIndRMoveIndependent AxisIndRMove - Independent relative position movementIndRMove is used to change a rotational axis to independent mode and move the axisto a specific position within one revolution.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 an absolute position (several revolutions) or if the axis islinear, the instruction IndAMove is used instead. If the movement is to take place a certaindistance from the current position, the instruction IndDMove must be used.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExampleIndRMove Station_A,2\ToRelPos:=p5 \Short,20;Axis 2 of Station_A is moved the shortest route to position p5 within one revolution(maximum rotation r 180 degrees) at a speed of 20 degrees/s.ArgumentsIndRMove[\Short] |MecUnit Axis [\ToRelPos] | [\ToRelNum][\Fwd] | [\Bwd] 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).[ \ToRelPos ] (To Relative Position) Data type: robtargetAxis position specified as a robtarget. Only the component for this specific axisis used. The value is used as a position value in degrees within one axis revolution.This means that the axis moves less than one revolution.The axis position will be affected if the axis is displaced using the instructionEOffsSet or EOffsOn.For robot axes, the argument \ToRelNum is to be used instead.RAPID reference manual - part 1a, Instructions A-R 161