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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.

Option designation Explanation
Speed (or S) To specify the internal speed. At the same time, the internal acceleration and internal deceleration are also changed. If Speed = n is specified, internal acceleration and internal deceleration are n2/100 value.
Accel To specify the internal acceleration. At the same time, the internal deceleration is also changed. The same value as the internal acceleration is put for the internal deceleration.
Decel To specify the internal deceleration.
Time To designate time to activate the motion. Time for traveling at the external speed of 100% is designated.

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 is omitted, the internal acceleration and internal deceleration speeds will be the n2/100, when "n" stands for the Speed. If you specify 0 or less, it does not change the value.
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. When this is omitted, the value specified in acceleration is also assigned to deceleration.
If you specify 0 or less, it does not change the value.

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

Acceleration
Specify the internal acceleration by Single Precision Real Number Type data within the range of 0.0001-100. The unit is "%."
The same value will be automatically set to the internal deceleration.

Attention

Accel option cannot be used with Speed option and/or Decel option. To change the speed, acceleration, and deceleration at the same time, use Speed option.

In terms of internal deceleration, there is a difference between when Accel option is used and when Accel command is used without specifying deceleration value.

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

Deceleration
Specify the internal deceleration by Single Precision Real Number Type data within the range of 0.0001-100. The unit is "%."

Attention

Decel option cannot be used with Speed option and/or Accel option. To change the speed, acceleration, and deceleration at the same time, use Speed option.

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.

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

Move L , P5, Time = 10000

For Time option, speed is calculated from normal travel time (from start to end) of the motion statement and set as internal speed. Therefore, an error of the designated time occurs when Control set of motion optimization is enabled.

Attention

If you write Accel and/or Decel together with Speed, the internal acceleration and/or internal deceleration will be overwritten by Speed.This is because Speed precedes Accel and Decel. To specify these motion-related options at the same time, use the following syntax.
Speed = (<Speed>,[<Accel>[,<Decel>]])

Example: To set the internal speed and the internal deceleration to 20 and 100 respectively and to keep the internal acceleration unchanged.

Move L , P5, Speed = ( 20, -1, 100 )
The following input is incorrect. 
Move L, P5, Speed = 20, Decel = 100

Example: To set the internal deceleration speed to 100 and to keep the internal speed and the internal acceleration unchanged.

Move L , P5, Decel = 100

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