Overtravel

When a motion command is executed as an override, the velocity of the axis may be high enough that the axis cannot stop at the target position even if it immediately starts to decelerate.

The Prohibit Overtravel parameter determines the profile shape in this case. This parameter is set to ChangeDeceleration by default.

Disabled Type

If the prohibit overtravel parameter is set to Disabled, the axis will immediately start to decelerate but be unable to stop at the target position. After the axis stops, the axis will reverse direction and move back to the target position.

The following plots show the position, velocity, and acceleration when the prohibit overtravel parameter is set to Disabled.

ChangeDeceleration Type

If the prohibit overtravel parameter is set to ChangeDeceleration, the profile deceleration is increased and the axis starts to decelerate immediately to stop at the target position.

The following plots show the position, velocity, and acceleration when the prohibit overtravel parameter is set to ChangeDeceleration.

ChangeInitialVelocity Type

If the prohibit overtravel parameter is set to ChangeInitialVelocity, the current velocity of the axis is decreased enough so that the axis can start to decelerate immediately at the profile parameter and stop at the target position.

The following plots show the position, velocity, and acceleration when the prohibit overtravel parameter is set to ChangeInitialVelocity.