Basic Characteristics RAPID

IndInpos Independent In position status
Example
IndInpos is used to test whether an independent axis has reached the selected position.
IndAMove Station_A,1\ToAbsNum:=90,20;
WaitUntil IndInpos(Station_A,2) = TRUE;
WaitTime 0.2;
Wait until axis 1 of Station_A is in the 90 degrees position.
Return value Data type: bool
Arguments
Limitations
The return values from IndInpos are:
Return value Axis status
TRUE In position and has zero speed.
FALSE Not in position and/or has not zero speed
IndInpos MecUnit Axis
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).
An independent axis executed with the instruction IndCMove always returns the value
FALSE, even when the speed is set to zero.
A wait period of 0.2 seconds should be added after the instruction, to ensure that the
correct status has been achieved. This time period should be longer for external axes
with poor performance.
RAPID Reference Manual 9-IndInpos-1