Basic Characteristics RAPID

Limitations
Examples
The speed can be changed by running a further IndRMove 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.
IndRMove Station_A,1\ToRelPos:=p5 \Fwd,20\Ramp:=50;
Axis 1of Station_A starts to move in a positive direction to the position p5 within
one revolution (maximum rotation 360 degrees) at a speed of 20 degrees/s. The
speed is changed with acceleration/deceleration reduced to 50% of maximum
performance.
IndAMove Station_A,1\ToAbsNum:=90,20;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
IndRMove Station_A,1\ToRelNum:=80 \Fwd,20;
WaitTime 0.2;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
IndRMove Station_A,1\ToRelNum:=50 \Bwd,20;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
IndRMove Station_A,1\ToRelNum:=150 \Short,20;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
IndAMove Station_A,1\ToAbsNum:=10,20;
Axis 1 of Station_A is moved to the following positions:
90 degrees
440 degrees (1 revolution + 80 degrees)
410 degrees (1 revolution + 50 degrees)
510 degrees (1 revolution + 150 degrees)
10 degrees
RAPID Reference Manual 8-IndRMove-3