Yes, you can! 
You can add the amount of seconds after the zone number by writing “in S”, with S being the amount of time in seconds.
For example, if you wanted him to walk there in 3 seconds, you’d write:
@ORION walks to spot 0.875 248 115 in zone 1 in 3 AND ORION does it
while walk_neutral_rear AND ORION faces right