WINDOW program instruction When a motion is being planned, the destination of the motion is compared against the operating window. If a window violation occurs, the window violation program is ignored and a program error may be generated depending upon the setting of the BELT.MODE parameter and the nature of the error. When a motion relative to the belt is being executed or after the motion is completed and the robot continues to track the destination, the destination is compared against the window every eV+ trajectory cycle.
If a window violation occurs and a program has been specified, the program is automatically invoked subject to its priority level, and the robot continues to track the belt and follow its continuous path motion. (The presumption is made that the specified program directs the robot as required to recover from the window violation.) If no program has been specified, the robot is immediately stopped and a window violation program error is signaled. If a REACTE has been posted, the REACTE routine is activated. Otherwise, program execution is terminated. Example The working window for the belt variable %belt1 is defined by locations win1 and win2.
If a window violation ever occurs while the robot is tracking the belt, the program belt.error is executed as a subroutine: WINDOW %belt1 = win1, win2, belt.error Related Keywords BELT system switch BELT real-valued function BELT.MODE system parameter BSTATUS real-valued function DEFBELT program instruction SETBELT program instruction WINDOW real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 568