Basic Characteristics RAPID

Error handling
Syntax
Axis 2 of Station_A starts to move in a positive direction at a speed of 20 degrees/
s. When this axis has reached the selected speed the robot axes start to move.
When the robot reaches position p10, the external axis changes direction and
rotates at a speed of 10 degrees/s . The change of speed is performed with acceleration/deceleration
reduced to 50% of maximum performance. At the same
time, the robot executes towards p20.
Axis 2 of Station_A is then stopped as quickly as possible in position p1 within
the current revolution.
When axis 2 has reached this position, and the robot has stopped in position p30,
axis 2 returns to normal mode again. The measurement system offset for this axis
is changed a whole number of axis revolutions so that the actual position is as
close as possible to p40.
When the robot is then moved to position p40, axis 2 of Station_A will be moved
via the shortest route to position p40 (max ±180 degrees).
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.
IndCMove
[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’
[ Axis’:=’ ] < expression (IN) of num> ’,’
[ Speed ’:=’ ] < expression (IN) of num>
[ ’\’ Ramp’:=’ < expression (IN) of num > ] ’;’
RAPID Reference Manual 8-IndCMove-3