IndRMove
๐ KR
Description
This is a component that switches an auxiliary axis to independent mode and moves it to a specified position within one revolution. It is generated using the IndRMove instruction, and after performing the task, it is necessary to initialize it back to normal mode using IndReset.
| Input
| Required Parameter
| Name | Type | Description |
|---|---|---|
| MechUnit | String | Mechanical unit name. |
| Target Axis | String | Target axis number (1โ6). The target axis for returning from independent mode or redefining the logical position. |
| Name | Type | Description |
|---|---|---|
| RefNum(ยฐ) | Number | Directly specifies the target position (angle) as a number (ยฐ). |
| Direction | String | Movement direction. โข Short: Shortest path (within ยฑ180ยฐ) โข Fwd: Moves in the positive direction (max 360ยฐ) โข Bwd: Moves in the negative direction (max 360ยฐ) |
| Speed | Number | Axis movement speed (ยฐ/s). |
| Ramp(%) | Number | Acceleration/deceleration performance reduction ratio (%). 100% = maximum performance. Lower values result in smoother acceleration/deceleration. |
| Output
| Name | Type | Description |
|---|---|---|
| Instruction | Instruction | Generated ABB instruction. Passed to the Instructions input of the Core component. |