Basic Characteristics RAPID

Limitations
Example
To change the axis back to normal mode, the IndReset instruction is used. The logical
position of the axis can be changed in connection with this - an number of full revolutions
can be erased, for example, to avoid rotating back for the next movement.
The speed can be changed by executing a further IndCMove instruction. If a speed in
the opposite direction is ordered, the axis stops and then accelerates to the new speed
and direction. To stop the axis, speed argument 0 can be used. It will then still be in
independent mode.
During stepwise execution of the instruction, the axis is set in independent mode only.
The axis starts its movement when the next instruction is executed, and continues as
long as program execution continues. For more information see Chapter 6, Motion and
I/O principles.
When the program pointer is moved to the beginning of the program, or to a new routine,
all axes are set automatically to normal mode, without changing the measurement
system (equivalent to executing the instruction IndReset\Old).
The resolution of the axis position worsens, the further it is moved from its logical zero
position (usually the middle of the working area). To achieve high resolution again, the
logical working area can be set to zero with the instruction IndReset. For more information
see Chapter 6, Motion and I/O Principles.
Axes in independent mode cannot be jogged. If an attempt is made to execute the axis
manually, the axis will not move, and an error message will be displayed. Execute an
IndReset instruction or move the program pointer to main, in order to leave independent
mode.
If a loss of voltage occurs when the axis is in independent mode, the program cannot
be restarted. An error message is displayed, and the program must be started from the
beginning.
IndCMove Station_A,2,20;
WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE;
WaitTime 0.2;
MoveL p10, v1000, fine, tool1;
IndCMove Station_A,2,-10\Ramp:=50;
MoveL p20, v1000, z50, tool1;
IndRMove Station_A,2 \ToRelPos:=p1 \Short,10;
MoveL p30, v1000, fine, tool1;
WaitUntil IndInpos(Station_A,2 ) = TRUE;
WaitTime 0.2;
IndReset Station_A,2 \RefPos:=p40\Short;
MoveL p40, v1000, fine, tool1;
8-IndCMove-2 RAPID Reference Manual