Which tag is associated with rotational speed when that speed definition is more appropriate?

• A. VR= Angle_Speed
• B. VJ= Join_Speed
• C. MOVL V=
• D. MOVJ

Answer: (A)

Rotational movement is governed by how quickly the angle changes, i.e., angular speed. In Motoman programming, that angular velocity is specified with the VR tag paired with Angle_Speed. This directly expresses speed in angular terms for a rotary axis, ensuring the rotation occurs at the intended rate regardless of gearing or axis configuration.

Using a linear velocity command (MOVL V=) would control linear speed along a path, not rotation. A joint-speed approach (VJ or MOVJ) describes motion per joint and doesn’t capture rotation in angular terms the way Angle_Speed does. Without VR and Angle_Speed, rotational motion isn’t defined in the appropriate angular units.