IAI America XSEL-QX - Manual (Page 218)

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Part 4 Commands
z OVRD (Override)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional OVRD Speed ratio Prohibited CP
[Function] Reduce the speed in accordance with the ratio specified in operand 1 (speed coefficient
setting). The speed ratio is set in a range from 1 to 100%.
A speed command specifying a speed below 1 mm/sec can be generated using OVRD.
(Smoothness of actual operation cannot be guaranteed. Movement must be checked on
the actual machine.)
(The speed specified with a PAPR command (push-motion approach speed) is clamped
by the minimum speed of 1 mm/sec.)
[Example 1] VEL 150 Set the SCARA CP operation speed/linear movement
axis speed to 150 mm/sec.
VELS 90 Set the SCARA PTP operation speed ratio to 90%.
OVRD 50 Reduce the speed to 50%.
The SCARA CP operation speed/linear movement
axis speed becomes 75 mm/sec, while the SCARA
PTP operation speed ratio becomes 45%.