2.4 Move Instruction
2-190
SPEED
Instruction set:
Sets the playback speed. The manipulator operates at the speed specified in the SPEED
instruction when the speed is not specified in the move instruction.
The tag which can be used is limited by the type of the job.
SUBSET STANDARD EXPANDED
Available Available Available
Job Type and Control Group
No. Job Type Control group Remarks
1 - One manipulator (standard)
2 - One manipulator with station axis
3 - Station axis only
Availability of Each Tag
No Tag
Control Group
Note
123
1VJ=
2V=
×
3VR=
×
4 VE=
× ×
: Available
×: Not available
Function
Construction
V=
A
END
Control point
speed (mm/s)
SPEED
VR=
Posture angle
speed (°/ s)
VE=
External axis
speed (%)
VJ=
Joint speed (%)
A
1 2
3 4
Obsługa robora