Omron SCARA YRCX Series, Programming Manual, Page: 301 / 506

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SPEED 8-209
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121 SPEED
Changes the program movement speed
Format
SPEED [robot number] expression
Values robot number .........................1 to 4 (If not input, robot 1 is specified.)
expression ..............................1 to 100 (units: %)
Explanation Changes the program movement speed to the value indicated by < expression >.
This speed change applies to all robot axes and auxiliary axes of the specified robot.
The operation speed is determined by multiplying the automatic movement speed
(specified from the programming box and by the ASPEED command), by the program
movement speed (specified by SPEED command).
Operation speed = automatic movement speed × program movement speed
Example:
Automatic movement speed ... 80%
Program movement speed ... 50%
Movement speed = 40% (80% × 50%)
SAMPLE
ASPEED 100 ····················· Changes the Automatic movement speed
of robot 1 to 100%
SPEED 70 ····················· Changes the Program movement speed of
robot 1 to 70%
MOVE P,P0 ····················· Moves robot 1 from current position to
P0 at a speed of 70% (=100 × 70).
SPEED 50 ····················· Changes the Program movement speed of
robot 1 to 50%
MOVE P, P1 ····················· Moves robot 1 from current position to
P1 at a speed of 50% (=100 × 50).
MOVE P,P2, S=10 ················· Moves robot 1 from current position to
P2 at a speed of 10% (=100 × 10).
HALT
Related commands ASPEED
NOTE
• Automatic movement speed
Specified by programming
box operation or by the
ASPEED command.
• Program movement speed
S p e c i f i e d b y S P E E D
commands or MOVE, DRIVE
speed options.