The DENSO PACScript language speed is based on a percentage value of maximum transitional speed of the specific robot model. Overall speed is determined by the PACScript internal speed defined by the SPEED command.
This is value scaled by the EXTERNAL SPEED which is the global speed value defined on the teaching pendant speed on the top right of the screen. If the controller is set to MANUAL or TEACH CHECK modes, the speed is reduced to 10% of those scaled values. This 10% speed limitation is no longer applied once the controller it set to AUTO mode.
For example, if the program SPEED is set to 100 and the EXTERNAL SPEED is set to 50%, the overall speed will be 50%. In MANUAL or TEACH CHECK, the speed would be 5% overall.
The speed can also be set to a specific velocity in MM/S using the MPS command.
This would set the internal program speed to 200 mm/s. The MPS command simply converts the MPS value to a percentage value. The maximum speed you can input into the MPS command is based on the maximum transitional speed for your specific robot model. For instance, the VP6242 robot has a maximum transitional speed of 800 mm/s. As such, a SPEED MPS(200) sets the internal program speed to 25%.