Basic Characteristics RAPID

IndDMove Independent Delta position Movement
Example
Arguments
IndDMove is used to change an axis to independent mode and move the axis a specific
distance.
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 a specific position, the instruction IndAMove or IndRMove
must be used instead.
IndDMove Station_A,2,-30,20;
Axis 2 of Station_A is moved 30 degrees in a negative direction at a speed of 20
degrees/s.
IndDMove MecUnit Axis Delta Speed [ \Ramp ]
MecUnit (Mechanical Unit) Data type: mecunit
The name of the mechanical unit.
Axis Data type: num
The number of the current axis for the mechanical unit (1-6).
Delta Data type: num
The distance which the current axis is to be moved, expressed in degrees (mm
for linear axes). The sign specifies the direction of movement.
Speed Data type: num
Axis speed in degrees/s (mm/s for linear axis).
[ \Ramp ] Data type: num
Decrease acceleration and deceleration from maximum performance
( 1 - 100%, 100% = maximum performance).
RAPID Reference Manual 8-IndDMove-1