Override Motion

Override motion refers to the ability to adjust the speed of the robot’s current motion in real time. With this function, the user can increase or decrease the speed of the current motion without stopping the robot’s operation.

The main features of Override motion are as follows.

• Path maintenance

  • In Override motion, only the speed is adjusted, and the path the robot follows does not change. Therefore, flexible speed adjustment is possible while maintaining path accuracy during operation.

• Improved ability for workers to respond to situations

  • Since the operator can immediately adjust the robot’s motion according to the situation, for example, by reducing the speed when a risk factor is detected or increasing the speed to improve work efficiency, on-site responsiveness is improved.

• Need to consider the effect of inertia

  • Since the effect of inertia on each joint of the robot changes according to the speed change, setting excessive acceleration/deceleration may cause unstable movement or shock to the system. Therefore, it is necessary to adjust the speed within an appropriate range.

Override Motion Example

wmx3Api::RobotMotion robotMotion;
wmx3Api::RobotMotionParam robotMotionParam;

// Change Velocity Gain to 10%
int errCode = robotMotion.mKinematics.OverrideVelocityByRatio(robotMotionParam.robotParam.robotId, 0.1, 0.1, 0.1);