SPEED monitor command

V+ Operating System Reference Guide

SPEED monitor command

Syntax

SPEED speed_factor

Function

Specify the speed of all subsequent robot motions commanded by a robot control program.

Usage Considerations

Monitor speed is limited to 100 or less. If you specify a faster speed, 100 will be assumed.

Motion speed has different meanings for joint-interpolated motions and straight-line motions.

SPEED takes effect immediately, including the speed of any currently executing motions.

The speed of robot motions is determined by a combination of the monitor speed setting (set with the SPEED monitor command) and the program speed setting (set by an executing program with a SPEED program instruction).

If the V+ system is not configured to control a robot, use of the SPEED command will cause an error.

Parameter

speed_factor Real-valued expression whose value is used as a new speed factor. A value of 100 is considered normal full speed; 50 is 1/2 of full speed.

Details

The speed at which robot motion occurs is a function of both the speed set by this monitor command and the speed set by a SPEED program instruction. During a continuous path motion, when the program SPEED is changed, the path followed is altered to maintain the specified speed and acceleration. However, when the monitor speed is changed, the path is unaffected but the accelerations will be modified.

The relationship of the monitor SPEED, the program SPEED, and the accelerations can be explained as follows:

When the monitor SPEED is 100%, V+ generates motions that attempt to achieve the specified program SPEED and acceleration. During continuous path motions, this will result in the path being "rounded" near intermediate destination locations to prevent excessive accelerations. If the program SPEED is increased and the accelerations remain constant, the rounding at intermediate points is increased to maintain the acceleration specifications.

If the monitor SPEED is set below 100%, V+ generates the same path that would have been planned for a monitor SPEED of 100%, i.e., the rounding is the same. However, the duration of each part of the motion (acceleration segments, constant velocity segments, and deceleration segments) are proportionally scaled to slow down the entire motion.

The monitor speed is set to 50 when V+ is initialized (this setting may be changed with the CONFIG_C utility program). The speed cannot be set lower than 0.000001 [1.0E-6].

Example

Sets the monitor speed to 30% of "normal."
	SPEED 30 
Related Keywords

SCALE.ACCEL system switch

SPEED program instruction

SPEED real-valued function