Mitsubishi MELFA CR1D Instruction Manual page 248

4MELFA-BASIC IV
Ovrd (Override)
[Function]
This instruction specifies the speed of the robot movement as a value in the range from 1 to 100%. This is
the override applied to the entire program.
[Format]
Ovrd[]<Override>
.
Ovrd[]<Override> [, <Override when moving upward> [, <Override when moving downward>] ]
[Terminology]
<Override>
<Override when moving upward/downward>
[Reference Program]
1 Ovrd 50
2 Mov P1
3 Mvs P2
4 Ovrd M_NOvrd
5 Mov P1
6 Ovrd 30,10,10
70 Mva P3,3
[Explanation]
(1) The Ovrd command is valid regardless of the interpolation type.
(2) The actual override is as follows:
*During joint interpolation: Operation panel (T/B) override setting value) x (Program override (Ovrd com-
mand)) x (Joint override (JOvrd command)).
*During linear interpolation: Operation panel (T/B) override setting value) x (Program override (Ovrd com-
mand)) x (Linear designated speed (Spd command)).
(3) The Ovrd command changes only the program override. 100% is the maximum capacity of the robot.
Normally, the system default value (M_NOvrd) is set to 100%. The designated override is the system
default value until the Ovrd command is executed in the program.
(4) Once the Ovrd command has been executed, the designated override is applied until the next Ovrd com-
mand is executed, the program End is executed or until the program is reset. The value will return to the
default value when the End statement is executed or the program is reset.
[Related instructions]
JOvrd (J Override)
[Related system variables]
M_JOvrd/M_NJovrd/M_OPovrd/M_Ovrd/M_NOvrd
(M_NOvrd (System default value), M_Ovrd (Current designated speed))
4-235 Detailed explanation of command words
Designate the override with a real number. The default value is 100.
Unit: [%] (Recommended range: 0.1 to 100.0)
A numeric operation expression can also be described. If 0 or a value over 100 is set,
an error will occur.
Sets the override value when moving upward/downward by the arch motion instruction
(Mva).
' Set default value.
' Sets the override when moving upward/downward by the arch motion
instruction to 10.
(For joint interpolation), Spd (Speed)( For linear/circular interpolation)