SPEED program instruction Details If the units parameter is omitted, this instruction determines the program speed—the nominal robot motion speed, assuming that the monitor speed factor is 100%. If MONITOR is specified for units, the monitor speed is set. In this case, the parameter r_ speed_factor is ignored and ALWAYS is assumed. The speed at which motions are actually performed is determined by combining the values specified in this instruction with the current program speed setting. Monitor speed changes take place immediately, including the remaining portion of a currently executing move.
If IPS or MMPS is specified in the units parameter, speed_factor is interpreted as the absolute tool-tip speed for straight-line motions. In this case, the speed_factor parameter has no direct meaning for joint-interpolated motions. The effects of changing program speed and monitor speed differ slightly for continuous-path motions. As the robot moves through a series of points, the robot comes as close to the points as possible while maintaining the program speed and specified accelerations. As program speed increases, the robot makes coarser approximations to the actual point in order to maintain the program speed and accelerations.
When the monitor speed is increased, the path of the robot relative to the commanded destination points is not altered but the accelerations are increased. For applications where path following is important, the path can be defined with the monitor speed set to a low value, and then accurately replayed at a higher monitor speed. Speed cannot be less than 0.000001 (1.0E-6). When the Monitor speed is set, its value is limited to a maximum of 100%. No error is reported if a higher speed setting is specified. When the program speed is set, its value is limited to a maximum that depends on the robot being controlled. No error is reported if a higher speed setting is specified.
The maximum speed value for the current robot is returned by the real-valued function SPEED(8). During straight-line motions, if a tool with a large offset is attached to the robot, the robot joint and flange speeds can be very large when rotations about the tool tip are made. The r_ speed_factor parameter permits control of the maximum tool rotation speeds during straight-line motions. If a rotational speed factor (r_speed_factor) is specified, it is interpreted as a percentage of maximum Cartesian rotation speed to be used during straight-line motions. If the r_speed_ factor parameter is not specified, one of the following results occurs: 1.
If the units parameter is also omitted, the rotational speed is set to the value of speed_factor . 2. If the units parameter is specified, the rotational speed is not changed. When IPS or MMPS are specified, the speed_factor is converted internally to the corresponding nominal speed. If the SPEED real-valued function is then used to read the eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 492