Overview

Planned velocity override functions are used to override the velocity of an axis that is currently performing a position command when a particular condition is satisfied.

A planned velocity override channel consists of four components: the source, the comparator, the data points, and the output. The relation between these components is expressed in the following diagram:

The source is compared against one or more data points using the comparator. If any of the comparisons yield true, the output is enabled (the velocity of the override axis is overridden). Otherwise, the output is disabled (the velocity of the override axis is unchanged).

If the comparison yields true, the index of the data point that causes the comparison to yield true becomes the active index and the override velocity associated with that data point becomes the active velocity. If multiple data points cause the comparison to yield true, the data point with the smallest position becomes the active index.

If the override axis is not performing a position command when the condition is satisfied, nothing happens.