Table of Contents 637 Process Strategy Customization 637 Controller Customizations 637 638 Robot Customizations 638 Robot: General 638 Robot: Allocation 638 Robot: Wait Mode 639 Robot: Error Responses 640 640 Control Sources: Belt Monitoring 640 641 Motion Settings: Pick and Place 641 642 Motion Settings: Refinement 642 Advanced Debugging Techniques 644 Process Manager Runtime Control 644 Event Log Display 647 Triggering Additional V+ Logging 649 Vision Results Logging 650 Virtual Camera Image Logging 650 Diagnostic Summary Display 650 V+ Profiler Display 651 System Monitor Display 652 Belt Control I/O 653 Belt Control Settings 654 Belt Control:
Defining a Custom Belt Program 657 Belt Control: Default Belt Program Behavior 658 Iterate Through the Belts 658 Evaluate Type of Belt Control 658 Run Check: Turn Belt Off 659 Belt Monitoring 660 Belt Monitoring 660 Initialization 661 Monitor Encoder Motion 661 Monitor Spacing Points 662 Monitor Hardware Latches 663 Monitor Camera Points 665 Conceptual Overview 667 Top Down Approach: An Application Framework 667 Hardware Sources: Provide Instances 669 Controller Queue: Process Instances 670 Process Manager Runtime Control: Hardware Display 670 Process Strategy: Data Models 672 673 Custom Allocation Scripts 674 Creating an Allocation Script 674 ACE Reference Guide, 18317-000 Rev A Page 12