SPEED
(Statement)
Specifies the internal composite speed of joints included in a currently held arm group.
SPEED <Movement speed>
The <SpeedRatio> should be the target ratio (%) of the maximum internal composite speed of joints in a currently held arm group. The entry range is from 0.1 to 100 of a real number.
If less than 0.1 is specified, no error will occur, but the actual speed may differ from the specification. If 0 or less is specified, an error will result.
The actual speed value is (external × internal / 100).
If SPEED is set, then ACCEL and DECEL are also changed.
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CP control
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PTP control
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Speed setting
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SPEED
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JSPEED
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Acceleration setting
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ACCEL
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JACCEL
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Deceleration setting
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DECEL
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JDECEL
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Current speed obtain
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CURSPD
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CURJSPD
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Current acceleration obtain
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CURACC
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CURJACC
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Current deceleration obtain
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CURDEC
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CURJDEC
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Example: If you write SPEED 50, the following will be set automatically:
JSPEED 50 (same value as SPEED)
ACCEL 25 (SPEED*SPEED / 100)
JACCEL 25 (SPEED*SPEED / 100)
DECEL 25 (SPEED*SPEED / 100)
JDECEL 25 (SPEED*SPEED / 100)
If you write SPEED without getting any arm group beforehand, an error will result.
Ex1
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DIM li1 As Integer
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SPEED 100
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'Sets the movement speed of the hand to 100.
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SPEED li1/100
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'Sets the movement speed of the hand to a value of (li1/100).
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Ex2(extended-joint)
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PROGRAM PRO1
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TAKEARM 1
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'Get Arm Group 1 (including 7th and 8th joints).
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SPEED 100
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'Specify composite speed of joints (7th and 8th)
'involved in Arm Group 1.
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END
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