YASKAWA FS100 - Page 217

2 INFORM Explanation
FS100 2.4 Move Instruction : SPEED
2-194
Example
(1) NOP
MOVJ VJ=100.00
MOVL V=138
SPEED VJ=50.00 V=276 VR=30.0
MOVJ
MOVL
MOVL VR=60.0
END
Moves at the joint speed
100.00%.
Moves at the control point
speed 138cm/min.
Moves at the joint speed
50.00%.
Moves at the control point
speed 276 cm/min.
Moves at the position angular
speed 60.0 degree/s.