Each of DENSO Robotics’ robot arms has a set maximum transitional speed. This value is what is scaled by the programs internal speed and teaching pendant external speed. You can find this value inside of Wincaps3’s parameters but the property is masked by the software. You cannot view this value directly from the teaching pendant. Under Wincaps3 go to PROJECT > PARAMETER > select Robot from the column on the left and scroll down to option 31.

If using the MPS command, the percentage value this command returns is scaled by this value.