Basic Characteristics RAPID

IndRMove Independent Relative position Movement
Example
Arguments
IndRMove is used to change a rotational axis to independent mode and move the axis
to a specific position within one revolution.
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 an absolute position (several revolutions) or if the axis is
linear, the instruction IndAMove is used instead. If the movement is to take place a
certain distance from the current position, the instruction IndDMove must be used.
IndRMove Station_A,2\ToRelPos:=p5 \Short,20;
Axis 2 of Station_A is moved the shortest route to position p5 within one revolution
(maximum rotation ± 180 degrees) at a speed of 20 degrees/s.
IndRMove MecUnit Axis [ \ToRelPos ] | [ \ToRelNum ] [ \Short ] | [
\Fwd ] | [ \Bwd ] 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).
[ \ToRelPos ] (To Relative Position) Data type: robtarget
Axis position specified as a robtarget. Only the component for this specific axis
is used. The value is used as a position value in degrees within one axis revolution.
This means that the axis moves less than one revolution.
The axis position will be affected if the axis is displaced using the instruction
EOffsSet or EOffsOn.
For robot axes, the argument \ToRelNum is to be used instead.
RAPID Reference Manual 8-IndRMove-1