Override in Opposite Direction

If the target position of the override is in the opposite direction of the axis motion, the axis will either decelerate to a stop or the command velocity will be immediately set to 0 depending on the Prohibit Overtravel parameter.

Disabled Type

If the prohibit overtravel parameter is set to Disabled, the axis will decelerate to a stop at the specified deceleration, and then move to the target position.

The following plots show the position, velocity, and acceleration whne the prohibit overtravel parameter is set to Disabled and the target position of the override is in the opposite direction.

ChangeDeceleration and ChangeInitialVelocity Types

If the prohibit overtravel parameter is set to ChangeDeceleration or ChangeInitialVelocity, the command velocity will be set to zero immediately to prevent overtravel .

The following plots show the position, velocity, and acceleration when the prohibit overtravel parameter is set to ChangeDeceleration or ChangeInitialVelocity and the target position of the override is in the opposite direction.