Operator`s manual

2.4 Move Instruction
2-191
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.
No Tag Explanation Note
1
VJ=Joint speed Specifies the joint speed.
The joint speed is shown in the ratio to the high-
est 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. 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)
No Tag Explanation Note
3
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)
Explanation