OVERLAP program instruction OVERLAP program instruction Syntax OVERLAP ALWAYS Function Disable the NOOVERLAP limit-error checking either for the next motion or for all subsequent motions. Usage Considerations OVERLAP applies to the operation of the following robots/joints: l For Viper and PUMA robots: joints 1, 4, and the final joint l For all SCARA robots: joint 4 l For Quattro robots: tool rotation This is the default state of the eV+ system. OVERLAP ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins. The OVERLAP instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task.
The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing the OVERLAP instruction causes an error. Parameter ALWAYS Optional qualifier that establishes OVERLAP as the default condition. That is, if ALWAYS is specified, OVERLAP remains in effect continuously until disabled by a NOOVERLAP instruction. If ALWAYS is not specified, the OVERLAP instruction applies only to the next robot motion. Details If OVERLAP is specified, the settings of SINGLE and MULTIPLE affect the robot motion.
When OVERLAP is set, and the transformation destination of a joint-interpolated or straight- line motion requires that a multiple-turn axis rotate more than ±180 degrees, the motion is executed without generating a program error. OVERLAP disables the limit-error checking of NOOVERLAP. The OVERLAP setting is applied whenever program execution is initiated and when a new execution cycle begins. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 379