Speed Setting Option

Speed setting options refer to options to be added to a motion statement and to activate the specified internal speed (internal acceleration and internal deceleration) for motions of added statement motions only.

Types of options are listed below.

Details of Speed Option

Syntax

• Specify "SPEED" only

  　 Speed = Speed
  　 S = Speed

• Specify all items at once (Available for Var.1.8.* or higher)

  　 Speed = (Speed[, acceleration[, deceleration]])
  　 S = (Speed[, acceleration[, deceleration]])

Guaranteed Entry

Speed

Specify the internal speed by Single Precision Real Number Type data within the range of 0.1-100. The unit is "%."

Acceleration

Specify the internal acceleration by Single Precision Real Number Type data within the range of 0.0001-100. The unit is "%."
This is an optional value. If this entry is omitted or 0 or lower is entered, the internal acceleration and internal deceleration speed will be set to n²/100 ("n" stands for the value of Speed).

Deceleration

Specify the internal deceleration by Single Precision Real Number Type data within the range of 0.0001-100. The unit is "%."
This is an optional value. If this entry is omitted or 0 or lower is entered, the value specified for acceleration is applied to the value of deceleration as well.

Example of Description

Move P, P[10], Speed = 20
Move P, P[11], Speed = (20, 1, 100) 

Details of Accel Option

Syntax

Accel = Acceleration

Guaranteed Entry

Attention

Example of Description

In the following sample program, both the acceleration and deceleration are set to 80%.

Move P, P1, Accel = 80

Details of Decel Option

Syntax

Decel = Deceleration

Guaranteed Entry

Details of Time Option

Time option designates time for traveling.

Assuming the internal acceleration and internal deceleration at this point are internal speed n, calculation is performed as n²/100.

The unit for time designation is "ms."

Since the internal speed calculation is performed on the assumption that the external speed is 100%, a motion takes 6 seconds if Time = 3000 when the external speed at the time of execution is 50%.

To specify the time, use integer type data. An error occurs when: a negative value is specified; the specified time duration is too short to reach the target position even at internal speed of 100%; a robot move distance is 0.

In addition, when the following conditions are met, an error [0x81201403 : Cannot move within the specified motion time] may occur.

• Time option is specified.
• Singularity avoidance function is enabled.
• Start position and target position are exactly the same.

Input Example for Traveling from Current Position to P5 in 10 Seconds

Move L , P5, Time = 10000

Attention

• If two or more options are specified, these are processed from the left to the right.
  

  Move L , P5, S = 70, A = 20, D = 10

  Result : Speed = 70, Acceleration = 20, Deceleration = 10
  

  Move L , P5, A = 20, D = 10, S = 70

  Result : Speed = 70, Acceleration = 49, Deceleration = 49
• The execution result of simultaneous specification will be the same as when the options are specified in the order of Speed, Acceleration, and Deceleration.
  

  Move L , P5, Speed = ( 70, -1, 10 )
  Move L , P5, S = 70, D = 10

  Result : Speed = 70, Acceleration = 49, Deceleration = 10
  

  Move L , P5, Speed = ( 80, 70, -1 )
  Move L , P5, S = 80, A = 70
  

  Result : Speed = 80, acceleration = 70, Deceleration = 70