4-249 Detailed explanation of command words
4MELFA-BASIC IV
Spd (Speed)
[Function]
Designates the speed for the robot's linear and circular movements. This instruction also specifies the opti-
mum speed control mode.
[Format]
[Terminology]
<Designated Speed> Designate the speed as a real number. Unit: [mm/s]
[Reference Program]
1 Spd 100
2 Mvs P1
3 Spd M_NSpd ' Set the default value.(The optimal speed-control mode .)
4 Mov P2
5 Mov P3
6 Ovrd 80 ' Countermeasure against an excessive speed error in the optimal speed mode
7 Mov P4
8 Ovrd 100
[Explanation]
(1) The Spd command is valid only for the robot's linear and circular movements.
(2) The actual designated override is (Operation panel (T/B) override setting value) x (Program override
(Ovrd command)) x (Linear designated speed (Spd command)).
(3) The Spd command changes only the linear/circular designated speed.
(4) When M_NSpd (The default value is 10000) is designated for the designated speed, the robot will always
move at the maximum possible speed, so the line speed will not be constant(optimum speed control).
(5) An error may occur depending on the posture of the robot despite of the optimal speed control. If an
excessive speed error occurs, insert an Ovrd instruction in front of the error causing operation instruc-
tion in order to lower the speed only in that segment.
(6) The system default value is applied for the designated speed until the Spd command is executed in the
program. Once the Spd command is executed, that designated speed is held until the next Spd com-
mand.
(7) The designated speed will return to the system default value when the program End statement is exe-
cuted.
[Related system variables]
M_Spd/M_NSpd/M_RSpd
Spd[]<Designated Speed
Spd[]M_NSpd (Optimum speed control mode)
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