YASKAWA FS100 - Page 216

2 INFORM Explanation
FS100 2.4 Move Instruction : SPEED
2-193
1. VJ=Joint speed
The following tag can be added or omitted.
2. V=Tool center point speed
The following tag can be added or omitted.
3. VR=Position angular speed
The following tag can be added or omitted.
4. VE=External axis speed
The following tag can be added or omitted.
Explanation
No Tag Explanation Note
1 VJ=Joint speed Specifies the joint speed.
The joint speed is shown in the ratio to the highest
speed.
Operates at the speed decided beforehand when the
joint speed is omitted.
Speed: 0.01% to
100.00%
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used. (Units: 0.01
%)
No Tag Explanation Note
2 V=Tool center point
speed
Specifies the tool center point speed.
Specifies the unit of rate using the operation condition
setting screen.
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used. (Units: 0.1
mm/s)
No Tag Explanation Note
3 VR=Position angular
speed
Specifies the position angular speed. Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used. (Units: 0.1
deg/s)
No Tag Explanation Note
4 VE=External axis
speed
Specifies the external axis speed. Speed: 0.01% to
100.00%
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.(Units: 0.01
%)