Changing Speed

The numeric data in the speed tags of motion steps within a single Job Content can be
edited either individually, or by type, or as a batch.

The following is a list of various methods for editing speed tag data:

• PLAY SPEED LIST
• DATA ENTRY
• DETAIL EDIT
• CHANGE SPEED

Play Speed List

The eight preset Play Speeds are accessed from within the Edit Buffer Line.
The MOVJ default settings and other example settings are shown in the table below.

To modify a speed tag (expressed as a CONSTANT) to any one of the eight preset
speeds from the list, perform the following steps:

1. In TEACH mode, move the cursor to the Instruction Side of the screen on the
step to be changed and press SELECT. The cursor appears in the Edit Buffer
Line highlighting the MOV_.
2. Cursor right to highlight the speed tag data.
3. Hold the SHIFT key while pressing the cursor up to increase the speed, or down
to decrease the speed.
4. Press ENTER for Edit Buffer Line to replace the line in the job.

NOTE: This method only allows one line at a time to be edited, and it only offers a
selection from the eight preset velocities.

Data Entry

An individual step’s speed tag may be edited by using the number keypad to enter any
CONSTANT value within the range of the corresponding velocity unit.

To modify a programmed speed tag using the number keypad, perform the
following steps:

1. In TEACH mode, move the cursor to the Instruction Side of the screen on the
step that requires changing and press SELECT. The cursor appears on the Edit
Buffer Line highlighting the MOV_.
2. Cursor right to highlight the speed data to be changed.
3. Press SELECT. A prompt appears for the appropriate type velocity along with
the data entry box.

Velocity Data Line Entry

4. Enter the desired data on the number keypad and press ENTER.
5. Press ENTER again for the Edit Buffer Line to replace the line in the job.

Detail Edit

The DETAIL EDIT screen not only allows the speed data to be changed using the
number keypad, but it also includes the ability to change the type of Velocity tag “V”
to “VR” depending on the Motion Type.

To change velocities with DETAIL EDIT, perform the following steps:

1. In TEACH mode from the Instruction Side of the screen, move the cursor to the
line to be edited and press SELECT; the cursor will move to the Edit Buffer Line.
2. With the cursor highlighting the root instruction, MOV_, press SELECT.
The DETAIL EDIT screen will display.

NOTE: There are two different speed data types (V or VR) for MOVL, MOVC, and
MOVS. To change to VR, cursor to the “V” and press SELECT.

3. Cursor to the speed data to be changed; press SELECT.
4. Enter the desired speed data on the number keypad and press ENTER.

VJ = Joint_speed MOVJ [0.01-100.00%]
V = Control_point_speed MOVL; MOVC; MOVS
[1-9000 cm/min]
[1-3543 in/min]
[1-90000 mm/min]
[0.1-1500.0 mm/sec]
VR = Angle_speed MOVL; MOVC; MOVS [0.1-360.0 deg/sec]

5. Press ENTER to accept the data, close Detail Edit, and return to the Job Content.
6. Press ENTER again for the Edit Buffer Line to replace the line in the job

Change Speed

The Edit menu CHANGE SPEED function allows for the modification of speed data
on all or a selected range of steps within a single job. This is an advantage over the
Play Speed List or Data Entry methods which only edit an individual speed tag.

Range of Addresses

Before accessing the CHANGE SPEED feature in the Edit menu, a range of
consecutive addresses may be highlighted from the Instruction Side by pressing
SHIFT+SELECT to set the START LINE NO., then Cursor to the END LINE NO. in
the Job Content. If no addresses are highlighted, then the entire job is available for
the CHANGE SPEED process in the Edit menu from the Instruction Side.

Speed Modification Screen

Modification Type

CONFIRM or NO CONFIRM under MODIFICATION TYPE functions as follows:

• NO CONFIRM Upon selecting EXECUTE, all steps will be changed
simultaneously and the refreshed Job Content appears.

• CONFIRM Upon selecting EXECUTE, the screen returns to the Job
Content with a single Step highlighted. Each step may be
Confirmed (changed individually) using the ENTER key, or
skipped (not changed) using the Cursor.

Modification Type Selection

NOTE: Each time the CHANGE SPEED screen is accessed, it defaults back to NO
CONFIRM; SPEED KIND: VJ; SPEED: 25.00%.

Speed Kind

The SPEED KIND selection allows either one type (VJ, V, VR, or VE) to be edited
exclusively, or all types to be modified with the RELATIVE choice using a percentage
decrease (1-99%) or increase (101-200%).

Speed Kind Selection

Speed

The SPEED element allows for number keypad entry of a specific speed CONSTANT
for the VJ, V, VR, and VE speed types. The speed data must be within the allowable
range of the selected Speed Kind. The Relative Speed data entry is the percentage
multiplier that will be applied to all of the numeric speed kind data within the job.

After setting all of the above elements as desired, choose EXECUTE.

If CONFIRM was active, complete the process of ENTER for each change, then press
CANCEL to quit from the active “Modifying Speed” message.

Cycle Time Display

The CYCLE TIME screen displays two forms of information: PLAYBACK TIME
which is the amount of time since the START button was last pressed, and the total
MOVING TIME which is the accumulated time any of the job’s Control Group
motor(s) operated to move to the position steps executed since the last START.

To enable the Cycle Time display, perform the following keystrokes:

1. Switch to PLAY mode.
2. In the desired JOB CONTENT, choose DISPLAY in the Menu Area.
3. Choose CYCLE TIME.

An asterisk “ * ” appears beside it indicating that this detail will now be displayed
whenever in PLAY mode until it is disabled by repeating these steps.

Below is a how to video that covers this function

Cycle Time Display

NOTE: To determine the time for just one cycle, play the job from NOP to END in Cycle
mode. If the job is run in AUTO cycle, the Cycle Time display will show the
cumulative time data.