Basic Characteristics RAPID

Program execution
Limitations
When IndAMove is executed, the specified axis starts to move at the programmed speed
for the specified distance. The direction of movement is specified as the sign of the
Delta argument. If \Ramp is programmed there will be a reduction of acceleration/
deceleration.
If the axis is moving, the new position is calculated from the momentary position of the
axis, when the instruction IndDMove is executed. If an IndDMove instruction with distance
0 is executed, the axis will stop and then move back to the position which the axis
had when the instruction was executed.
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 - a number of full revolutions
can be erased from the position, for example, to avoid rotating back for the next
movement.
The speed can be changed by running a further IndDMove instruction (or another
Ind_Move instruction). If a speed in the opposite direction is selected, the axis stops and
then accelerates to the new speed and direction.
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 automatically set to normal mode, without changing the measurement
system (equivalent to running the instruction IndReset \Old).
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.
8-IndDMove-2 RAPID Reference Manual