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SP (Speed)
SP (Speed)
SP (Speed)
SP (Speed)
【 Function 】
【 Function 】
【 Function 】
【 Function 】
Sets the operating speed, acceleration or deceleration time and the continuous path setting.
Sets the operating speed, acceleration or deceleration time and the continuous path setting.
Sets the operating speed, acceleration or deceleration time and the continuous path setting.
Sets the operating speed, acceleration or deceleration time and the continuous path setting.
【 Input Format 】
【 Input Format 】
【 Input Format 】
【 Input Format 】
SP <speed level> [, [ [ [ [ <H/L>
SP <speed level> [,
SP <speed level> [,
SP <speed level> [,
【 Term 】
【 Term 】
【 Term 】
【 Term 】
<Speed level>
<Speed level>
<Speed level>
<Speed level>
<H/L>
<H/L>
<H/L>
<H/L>
<CNT setting>
<CNT setting>
<CNT setting>
<CNT setting>
【 Explanation 】
【 Explanation 】
【 Explanation 】
【 Explanation 】
(1) Sets the operating speed in 31 steps and acceleration/deceleration time upon start and stop in 2 levels.
(1) Sets the operating speed in 31 steps and acceleration/deceleration time upon start and stop in 2 levels.
(1) Sets the operating speed in 31 steps and acceleration/deceleration time upon start and stop in 2 levels.
(1) Sets the operating speed in 31 steps and acceleration/deceleration time upon start and stop in 2 levels.
(2) The speed level is predetermined as a ratio to the maximum rpm of each joint for joint interpolation and as a ratio
(2) The speed level is predetermined as a ratio to the maximum rpm of each joint for joint interpolation and as a ratio
(2) The speed level is predetermined as a ratio to the maximum rpm of each joint for joint interpolation and as a ratio
(2) The speed level is predetermined as a ratio to the maximum rpm of each joint for joint interpolation and as a ratio
to the maximum speed of the tip of hand for linear interpolation. The initial value is 30.
to the maximum speed of the tip of hand for linear interpolation. The initial value is 30.
to the maximum speed of the tip of hand for linear interpolation. The initial value is 30.
to the maximum speed of the tip of hand for linear interpolation. The initial value is 30.
(3) The acceleration/deceleration time may be selected from among H or L. The acceleration time is the maximum
(3) The acceleration/deceleration time may be selected from among H or L. The acceleration time is the maximum
(3) The acceleration/deceleration time may be selected from among H or L. The acceleration time is the maximum
(3) The acceleration/deceleration time may be selected from among H or L. The acceleration time is the maximum
time for the robot to reach to the maximum speed. Therefore, when the moving speed does not reach to the
time for the robot to reach to the maximum speed. Therefore, when the moving speed does not reach to the
time for the robot to reach to the maximum speed. Therefore, when the moving speed does not reach to the
time for the robot to reach to the maximum speed. Therefore, when the moving speed does not reach to the
maximum speed, the actual acceleration time becomes smaller than the specified value.
maximum speed, the actual acceleration time becomes smaller than the specified value.
maximum speed, the actual acceleration time becomes smaller than the specified value.
maximum speed, the actual acceleration time becomes smaller than the specified value.
(4) The acceleration/deceleration command time can be designated in the two stages H and L. In either case, the
(4) The acceleration/deceleration command time can be designated in the two stages H and L. In either case, the
(4) The acceleration/deceleration command time can be designated in the two stages H and L. In either case, the
(4) The acceleration/deceleration command time can be designated in the two stages H and L. In either case, the
rate is in respect to the maximum acceleration/deceleration speed for joint, linear and circular interpolation, and
rate is in respect to the maximum acceleration/deceleration speed for joint, linear and circular interpolation, and
rate is in respect to the maximum acceleration/deceleration speed for joint, linear and circular interpolation, and
rate is in respect to the maximum acceleration/deceleration speed for joint, linear and circular interpolation, and
signify the acceleration during startup. (This also applies for deceleration.) Thus, if the movement speed does not
signify the acceleration during startup. (This also applies for deceleration.) Thus, if the movement speed does not
signify the acceleration during startup. (This also applies for deceleration.) Thus, if the movement speed does not
signify the acceleration during startup. (This also applies for deceleration.) Thus, if the movement speed does not
reach the maximum speed, the acceleration/deceleration time will be smaller than the set value.
reach the maximum speed, the acceleration/deceleration time will be smaller than the set value.
reach the maximum speed, the acceleration/deceleration time will be smaller than the set value.
reach the maximum speed, the acceleration/deceleration time will be smaller than the set value.
(5) For linear interpolation, the tip of hand, determined by the tool command, is moved at constant speed. In this case,
(5) For linear interpolation, the tip of hand, determined by the tool command, is moved at constant speed. In this case,
(5) For linear interpolation, the tip of hand, determined by the tool command, is moved at constant speed. In this case,
(5) For linear interpolation, the tip of hand, determined by the tool command, is moved at constant speed. In this case,
error may result from any of the joints exceeding its maximum speed. If the motion of the position angle (
error may result from any of the joints exceeding its maximum speed. If the motion of the position angle (6-axis
error may result from any of the joints exceeding its maximum speed. If the motion of the position angle (
error may result from any of the joints exceeding its maximum speed. If the motion of the position angle (
type:A,B,C angle,
type
type
type
:A,B,C angle,
:A,B,C angle, 5-axis type
:A,B,C angle,
5-axis type
5-axis type:A,B angle) is greater than the motion of the distance (X, Y, Z), the robot moves in
5-axis type
reference to the position angular speed.
reference to the position angular speed.
reference to the position angular speed.
reference to the position angular speed.
The SD command allows the speed to be defined in smaller increments.
The SD command allows the speed to be defined in smaller increments.
The SD command allows the speed to be defined in smaller increments.
The SD command allows the speed to be defined in smaller increments.
(6) CNT is invalid as the default setting.
(6) CNT is invalid as the default setting.
(6) CNT is invalid as the default setting.
(6) CNT is invalid as the default setting.
(7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or
(7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or
(7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or
(7) By enabling the CNT setting, the robot moves continuously without acceleration and deceleration until the SD or
SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a
SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a
SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a
SP command disables the CNT setting. (Path motion) However, the robot accelerates and decelerates at a
starting and at a stopping point as well as when a timer or a input command is executed during the path motion.
starting and at a stopping point as well as when a timer or a input command is executed during the path motion.
starting and at a stopping point as well as when a timer or a input command is executed during the path motion.
starting and at a stopping point as well as when a timer or a input command is executed during the path motion.
(8) The speed and acceleration/deceleration set once is valid until set again. If H/L is omitted, the previous setting
(8) The speed and acceleration/deceleration set once is valid until set again. If H/L is omitted, the previous setting
(8) The speed and acceleration/deceleration set once is valid until set again. If H/L is omitted, the previous setting
(8) The speed and acceleration/deceleration set once is valid until set again. If H/L is omitted, the previous setting
value will continue be vaild. (If the SD command is executed, that setting value will be valid.)
value will continue be vaild. (If the SD command is executed, that setting value will be valid.)
value will continue be vaild. (If the SD command is executed, that setting value will be valid.)
value will continue be vaild. (If the SD command is executed, that setting value will be valid.)
(9) The setting returns to the default value when the ED command is executed or the program is reset.
(9) The setting returns to the default value when the ED command is executed or the program is reset.
(9) The setting returns to the default value when the ED command is executed or the program is reset.
(9) The setting returns to the default value when the ED command is executed or the program is reset.
<H/L>] ] ] ] [, <CNT setting>]]
[, <CNT setting>]]
<H/L>
<H/L>
[, <CNT setting>]]
[, <CNT setting>]]
Set moving speed.
Set moving speed.
Set moving speed.
Set moving speed.
0 ≦ speed level ≦ 30
0 ≦ speed level ≦ 30
0 ≦ speed level ≦ 30
0 ≦ speed level ≦ 30
Set acceleration/deceleration level.
Set acceleration/deceleration level. (Default is H.)
Set acceleration/deceleration level.
Set acceleration/deceleration level.
H: High acceleration/deceleration (Max. 100%)
H: High acceleration/deceleration (Max. 100%)
H: High acceleration/deceleration (Max. 100%)
H: High acceleration/deceleration (Max. 100%)
L: Low acceleration/deceleration (Max. 50%)
L: Low acceleration/deceleration (Max. 50%)
L: Low acceleration/deceleration (Max. 50%)
L: Low acceleration/deceleration (Max. 50%)
Specify the enable/disable state of the continuous path mode.
Specify the enable/disable state of the continuous path mode.
Specify the enable/disable state of the continuous path mode. (Default is disable.)
Specify the enable/disable state of the continuous path mode.
0: Disable
0: Disable
1: Enable
1: Enable
0: Disable
0: Disable
1: Enable
1: Enable
:A,B angle) is greater than the motion of the distance (X, Y, Z), the robot moves in
:A,B angle) is greater than the motion of the distance (X, Y, Z), the robot moves in
:A,B angle) is greater than the motion of the distance (X, Y, Z), the robot moves in
(Default is H.)
(Default is H.)
(Default is H.)
2 2 2 2 Explanation of Commands
Explanation of Commands
Explanation of Commands
Explanation of Commands
(Default is disable.)
(Default is disable.)
(Default is disable.)
6-axis
6-axis
6-axis
SP (Speed) 2 2 2 2 -77
SP (Speed)
SP (Speed)
SP (Speed)
-77
-77
-77
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