Operator`s manual

2.4 Move Instruction
2-178
7. V=Tool center point speed /VR=Position angular speed /VE=External axis
speed
Choose one of the tags from the following table.
8. PL=Position level /SPDL=Speed level
Choose one of the tags from the following table.
No Tag Explanation Note
8
V=Tool center
point speed
Specifies the tool center point speed. Speed: 0.1 mm to
1500.0 mm/s
The units can be
changed by setting
the parameter
S2C173.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
9
VR=Position
angular speed
Specifies the position angular speed. Speed: 0.1 degrees
to 180.0 degrees/s
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 deg/s)
10
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 %)
No Tag Explanation Note
11
PL=Position level Specifies the position level.
The position level is a level of the approach
when the manipulator passes the position where
the teaching procedure was done.
Level: 0 to 8
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
12
SPDL=Speed
level
Specifies the speed level.
The speed level is a tag for the robot to end the
execution of the move instruction in the state of
servo float control, and to confirm the state which
has stopped. The operation ends when the
speed feedback pulse of all axes goes below a
constant value, and the manipulator is consid-
ered to have been stopped.
Level: Only 0
Available only with
the optional servo-
float function.