SPEED program instruction program speed, the value returned is a percentage speed factor and not an absolute speed setting. Remember, the final robot speed is a combination of the monitor speed (SPEED monitor command), the program speed (SPEED instruction), and the acceleration or deceleration (ACCEL program instruction). Examples Set the program speed to 50% for the next motion (assuming the monitor speed is 100): SPEED 50 Set the nominal tool tip speed to 20 inches per second (assuming the monitor speed is 100) for straight-line motions. Rotations about the tool tip is limited to 40% of maximum. The settings remains in effect until changed by another SPEED instruction.
SPEED 20, 40 IPS ALWAYS Set the monitor speed to 50% of normal: SPEED 50 MONITOR Related Keywords ACCEL program instruction DURATION program instruction IPS keyword MMPS keyword SCALE.ACCEL system switch SELECT program instruction SELECT real-valued function SPEED monitor command SPEED real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 493