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SPEED

SPEED speed, rotational speed, ALWAYS

Function

Specifies the robot motion speed 

Parameter

Speed
Specifies the program speed. Usually it is specified in percentages between 0.01 and 100 (%).
Absolute speed can be set by specifying the speeds with these units: MM/S and MM/MIN. The
unit S (seconds) specifies the motion time. The input range for motion time is 0.1 S to 3601 S.
If the unit is omitted, it is read as percent (%).

Rotational speed (Option)
Specifies the rotational speed of the tool orientation in linear and circular interpolated motions.
Usually it is specified in percentages between 0.01 and 100 (%). Absolute speed can be set by
specifying the speed with these units: DEG/S and DEG/MIN. If the unit is omitted, it is read as
percent (%). If this parameter is omitted, the rotational speed is set at 100%.

ALWAYS
If this parameter is entered, the speed set in this instruction remains valid until the next SPEED
instruction is executed. If not entered, the speed is effective only for the next motion instruction.

Explanation

The actual speed of the robot motion is determined by the product of the speed specified by this
instruction and the monitor speed specified by the SPEED command or MON_SPEED
instruction (Monitor speed  Program speed). However, full speed is not guaranteed in cases
such as below:

  1. when the distance between the two taught poses is too short
  2. when a linear motion exceeding the maximum speed of axis rotation is taught.

The motion speed is determined differently in joint interpolated motion and linear movement. In joint interpolated motion, the motion speed is determined as a percentage of the maximum speed of each axis. In linear movement, the motion speed is determined as a percentage of the maximum speed at the origin of the tool coordinates 

When the speed is specified in distance per unit time or in seconds, the speed in linear movement at the origin of the tool coordinates is set. When moving in joint interpolated motions, set the speed in percent. (Even if the speed is set in absolute speed or in motion time, the robot will not move in the set speed. Instead, the speed is processed as a percentage of the given value to the maximum speed.)

The absolute speed expressed in values with MM/ S and MM/MIN, and time specified speed
expressed in values with S, describe the speed when the monitor speed is 100%. If the monitor
speed is decreased, these speeds decrease in the same proportion

Example

The speed is set as follows when the monitor speed is 100%:

SPEED 50 //Sets the speed of the next motion to 50 % of the maximum speed.

SPEED 100 //Sets the speed of the next motion to 100% of the maximum speed.

SPEED 200 {*Sets the speed of the next motion to 100% of the maximum speed
(speed over 100% is considered 100%).}*

SPEED 20MM/20 MM/S ALWAYS {*The speed of the origin of the tool coordinate (TCP) is set at 20
mm/sec until it is changed by another SPEED instruction (when
the monitor speed is 100%).*}

SPEED 6000 MM/MIN {*Sets the speed of the next robot motion to 6000 mm/min. (The
speed of linear motion of the origin of the tool coordinates).*}

SPEED 5 S {*Sets the speed of the next robot motion so that the destination is
reached in 5 seconds. (The speed of linear motion of the origin of the
tool coordinates)*}
[NOTE]

Even if the product of program speed and the speed set by SPEED command or
MON_SPEED instruction (monitor speed) exceeds 100% the actual motion speed does not
exceed 100%

The rotational speed cannot be set without the rotational speed control option ON. If the
option is not ON, error occurs.

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