Speed Statement

Specifies or displays the arm speed for the point to point motion instructions Go, Jump and Pulse.

Syntax
(1) Speed percent [, departSpeed, approSpeed]

(2) Speed

Parameters

percent: Specify the percentage (an integer from 1 to 100, unit: %) of the maximum operating speed (PTP motion) as an expression or numeric value.
departSpeed: Specify the speed (an integer between 1 and 100, unit: %) of the depart movement when the Jump instruction is executed, as an expression or numeric value. Optional. Available only with Jump command.
approSpeed: Specify the speed (an integer between 1 and 100, unit: %) of the approach movement when the Jump instruction is executed, as an expression or numeric value. Optional. Available only with Jump command.

Return Values
Displays current Speed value when used without parameters.

Description
Speed specifies the arm speed for all point to point motion instructions. This includes motion caused by the Go, Jump and Pulse robot motion instructions. The speed is specified as a percentage of maximum speed with the range of acceptable values between 1-100. (1 represents 1% of the maximum speed and 100 represents 100% of maximum speed). Speed 100 represents the maximum speed possible.

Depart and approach speed values apply only to the Jump instruction. If omitted, each defaults to the percent value.

The speed value initializes to its default value when any one of the following is performed:

Controller Startup
Motor On
SFree, SLock, Brake
Reset or Reset Error is executed
Task end by STOP switch or Quit All

In Low Power Mode, the effective speed setting is lower than the default value. If a higher speed is specified directly (from the command window) or in a program, the speed is set to the default value. In High Power Mode, the motion speed setting is the value specified with Speed.

If higher speed motion is required, set high power mode using Power High and close the safety door. If the safety door is open, the Speed settings will be changed to their default value.

If Speed is executed when the robot is in low power mode, the following message is displayed. The following example shows that the robot will move at the default speed (5) because it is in Low Power Mode even though the speed setting value by Speed is 80.

> speed 80
> speed
Low Power Mode
    80
    80     80
>

See Also
Accel, Go, Jump, Power, Pass, Pulse, SpeedS

Speed Statement Example
Speed can be used from the command window or in a program. Shown below are simple examples of both methods.

Function speedtst
    Integer slow, fast, i
    slow = 10
    fast = 100
    For i = 1 To 10
        Speed slow
        Go P0
        Go P1
        Speed fast
        Go P0
        Go P1
    Next i
Fend

From the command window the user can also set Speed values.

> Speed 100,100,50    'Z joint downward speed set to 50%
> Speed 50
> Speed
    Low Power State: Speed is limited to 5
       50
       50        50
>

← Space$ Function SpeedS Function →