YASKAWA FS100 - Speed

2 INFORM Explanation
FS100 2.4 Move Instruction : SPEED
2-192
SPEED
Sets the playback speed. The manipulator operates at the speed specified
in the SPEED instruction when the speed is not specified in the move
instruction.
The tag which can be used is limited by the type of the job.
SUBSET STANDARD EXPANDED
Available Available Available
Function
Construction
V=
A
END
Control point
speed (mm/s)
SPEED
VR=
Posture angle
speed (deg./ s)
VE=
External axis
speed (%)
VJ=
Joint speed (%)
A
1 2
3 4
Table 2-9: Job Type and Control Group
No. Job Type Control group Remarks
1 - One manipulator (standard)
2 - One manipulator with station axis
3 - Station axis only
Table 2-10: Availability of Each Tag
No Tag
Control Group
Note
123
1VJ=

2V=

×
3VR=

×
4VE=
×

×
: Available
×: Not available