Basic Characteristics RAPID

Example
Error handling
Syntax
ActUnit Station_A;
weld_stationA;
IndAMove Station_A,1\ToAbsNum:=90,20\Ramp:=50;
ActUnit Station_B;
weld_stationB_1;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
DeactUnit Station_A;
weld_stationB_2;
Station_A is activated and the welding is started in station A.
Station_A (axis 1) is then moved to the 90 degrees position while the robot is
welding in station B. The speed of the axis is 20 degrees/s . The speed is changed
with acceleration/deceleration reduced to 50% of max performance.
When station A reaches this position, it is deactivated and reloading can take
place in the station at the same time as the robot continues to weld in station B.
If 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.
IndAMove
[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’
[ Axis’:=’ ] < expression (IN) of num>
[ ’\’ToAbsPos’:=’ ] < expression (IN) of robtarget>
| [ ’\’ ToAbsNum’:=’ ] < expression (IN) of num> ’,’
[ Speed ’:=’ ] < expression (IN) of num>
[ ’\’ Ramp’:=’ < expression (IN) of num > ] ’;’
RAPID Reference Manual 8-IndAMove-3