NOOVERLAP program instruction NOOVERLAP program instruction Syntax NOOVERLAP ALWAYS Function Generate a program error if a subsequent motion is planned that causes a selected multi- turn axis to move more than ±180 degrees to avoid a limit stop. Usage Considerations NOOVERLAP 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 OVERLAP ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins.
The NOOVERLAP 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 NOOVERLAP instruction causes an error. Parameter ALWAYS Optional qualifier that establishes NOOVERLAP as the default condition. That is, if ALWAYS is specified, NOOVERLAP remains in effect continuously until disabled by an OVERLAP instruction. If ALWAYS is not specified, the NOOVERLAP instruction applies only to the next robot motion.
Details When NOOVERLAP 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 to avoid a limit stop, a program error will occur (and the motion will not be performed). If the destination is specified as a precision point, this test is not performed. In general, given a transformation destination, a multiple-turn axis normally attempts to move to a new position by moving in the direction that requires less than 180 degrees of eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 363