SPEED program instruction SPEED program instruction Syntax SPEED speed_factor, r_speed_factor units ALWAYS Function Set the nominal speed for subsequent robot motions. Usage Considerations SPEED 100,100 ALWAYS is assumed whenever program execution is started and when a new execution cycle begins. Motion speed has different meanings for joint-interpolated motions and straight-line motions. The speed of robot motions is determined by a combination of the program speed setting and the monitor speed setting. The SPEED instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task.
The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing the SPEED instruction causes an error. Parameters speed_factor Real value, variable, or expression whose value is used as a new speed factor. The value 100 is considered normal full speed, 50 is 1/2 of full speed, and so on. If IPS or MMPS is specified for units, the value is considered the linear tool tip speed. r_speed_factor Optional real value, variable, or expression whose value is used as a new straight-line motion rotational speed factor. The value 100 is considered normal full speed, 50 is 1/2 of full speed, etc.
units Optional keyword—either IPS (for inches per second), MMPS (for millimeters per second), or MONITOR—that determines how to interpret the speed_factor parameter. ALWAYS Optional qualifier. If specified, the program speed_factor will be in effect until the next SPEED instruction changes program speed. Otherwise, it is in effect only for the next motion instruction (including APPROaches and DEPARTs). eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 491