Hunting around for a Puma manual, I found the PUMA Unofficial User’s Guide which says:
MOVE
Move the gripper/tool to the location set up. Usually this command follows an APPRO but it is not required. The robot will move at the last speed specified.
Use: MOVE
Example: MOVE PART
In the example the robot would move directly to the location “PART” that was set up in a previous step.
Emphasis added by me.
Unfortunately setting speed was one of the commands omitted from this guide, which led me to the User’s Guide to VAL 398H2A which explains (on page 55 in the pdf) that speed depends on the SPEED
monitor value, the SPEED command (p74) and the which types of motion (see Trajectory control on p39). There are different kinds of MOVE commands, MOVE
, MOVES
, MOVEST
and MOVET
all have significantly different behaviours.
Given any two of speed, distance and time you can calculate the third, sadly this documentation suggests that speed is in terms of percentage of the 'Normal' speed of the robot and it is not clear how much support there is for the robot assisting in calculating for you any of these three parameters. I cannot imagine that it is not possible however.