DEFBELT program instruction DEFBELT program instruction Syntax DEFBELT %belt_var = nom_trans, belt_num, vel_avg, scale_fact Function Define a belt variable for use with a conveyor tracking robot. Usage Considerations This option is available only if your system is equipped with the eV+ Extensions option. The DEFBELT program instruction supports up to six belt encoders, depending on the hardware configuration. The BELT switch must be enabled for this instruction to be executed. The DEFBELT program instruction cannot be executed while the robot is moving relative to the specified belt variable.
When a belt variable is initialized using this instruction, its window parameters are set to allow any location in the working volume of the robot. That is, no belt window is set. (See the WINDOW program instruction.) When a belt variable is initialized with the DEFBELT program instruction, error checking is initiated for the associated belt encoder. This error checking can be turned off by disabling the BELT system switch or by using the ZERO command to reinitialize the eV+ system. Parameters %belt_var Name of the belt variable to be defined.
(All appearances of belt variables must be prefixed with the percent character [%].) nom_trans Transformation value that defines the position and orientation of the conveyor belt. This can be provided by a transformation variable, a transformation-valued function, or a compound transformation. The X axis of the nominal transformation defines the direction of travel of the belt. Normally, the belt moves along the direction of +X. The X-Y plane defined by this transformation is parallel to the surface of the belt. The (X, Y, Z) position defined by the nominal transformation defines the approximate center of the belt with respect to the robot.
belt_num The number of the encoder used for reading the instantaneous eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 156