Press the “Motion Type” button to select MOVL (linear) or MOVJ (joint)
Navigate to the job line that you want to insert the movement after
With servo power applied, select “Insert” and press “Enter”
Moving while editing
With servo power applied, hold “FWD” or “BWD” to move the robot through the job positions
Hold “HIGH SPD” too, to go faster
Configuring the speed
Use the arrow keys to navigate to the MOVL/MOVJ instruction (not the line number)
Press “Select”
Use the arrow keys to navigate to the V= value
Press “Select”
Enter the new value
Press “Enter” twice
A safe speed for MOVJ is “10”, it's useful to do this at the start of your job to initialise its position from wherever the robot currently is (because it may not be able to go at a constant linear speed)