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Other System Variables (some of these can be set from System:Config, or other places in the interface.) Un-shifted will remain unchanged if $OVRD_SETUP.$OVRD_NUM=0. This will give you the shifted increments of VFINE, FINE, 5%, 25%, 50%, 75%, 100%. Under the details of $ OVERRIDE_S, set the values from to to the following: -1, 0, 5, 25, 50, 75, 100, -2, -2, -2 (When $OVRD_NUM is set to non-zero, $OVRD_RATE will have no effect.)

$OVRD_SETUP.$OVRD_NUM: Set to number of un-shifted jumps desired, or leave as is for default un-shifted behavior. $OVRD_SETUP.$OVRD_NUM_S: Set to number of shifted jumps desired, such as 6 or 7. Or customize the shifted +/- override keys:

Set to 0 to make shifted +/- override keys work the same as un-shifted. (10 is probably more friendly for most cases.) Set to higher number to increase the change in value in when pressing the un-shifted +/- override keys. System Variables for Speed Override (+/- keys, used with and without shifting)īe aware that if $Group.$CNSTNT_PATH=TRUE, then $PARAM_GROUP.$CP_CU TOFFOV (default is 5) becomes active and limits speed override to a minimum of 5%. The value must be decoded, according to the software reference manual, it is bit coded as follows:

$MCR.$GENOVERRIDE: This is the system variable that changes when you hit the +% and -% buttons.

$MCR_GRP.$fjog_enb - Fast Jogging Mode Enable.

$Group.$CNSTNTPTHJT - The robot will take the same path for joint moves regardless of speed.

$PARAM_GROUP.$CP_CU TOFFOV=5 (default), sets min override speed, only active when $Group.$CNSTNT_PATH = TRUE, 5% is the minimum allowed.

(COLD start required for changes to take affect.)

$Group.$CNSTNT_PATH - The robot will take the same path for cartesian moves regardless of speed, limits speed override to 5% as the minimum.

$Group.$CNT_SPEEDUP - Also enables maxaccel? Not clear from manual.

$Group.$MAX_SPEED - Not described in manual.

$Group.$USEMAXACCEL - enables 'fast acceleration' feature.

System Variables that affect performance: Some may require a Cold Start to take affect. Many are for internal use and are read only, but some dramatically affect performance and are writable, at the least during a Controlled Start, if not normal Start. FANUC Robot controllers have a very large list of system variables, many of which are dangerous to change, and may not be documented.