Hi,
I use this method, override correction is fast as KUKA KRL is capable to run
This program keeps the $OV_PRO on 30% in T2, AUT and EXT mode.
Code
&ACCESS RVO3
&PARAM EDITMASK = *
DEF Override_test()
INT iOverrideLast ; previous override
iTargetOverrideInNotT1 = 30 ; target override, a GLOBAL variable
iOverrideLast = $OV_PRO
IF (NOT $T1) THEN
$OV_PRO=iOffsetOverrideInNotT1
INTERRUPT OFF 9
WAIT SEC 0 ; must wait 1 cyle
INTERRUPT DECL 9 WHEN $OV_PRO <> iTargetOverrideInNotT1 DO Override()
INTERRUPT ON 9
WAIT SEC 0 ; must wait 1 cyle
ENDIF
; override will be the target you want
LIN ...
PTP ...
; continue program withe the original override
INTERRUPT OFF 9
WAIT SEC 0
$OV_PRO = iOverrideLast ;
END
DEF Override() ; Override
$OV_PRO=iTargetOverrideInNotT1
END
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