BELT.MODE system parameter Bit 3 Window error definition (mask value = 4) When this bit is set to one, destination locations that are downstream or upstream of the belt window cause motion instructions to fail during planning. When this bit is set to zero, upstream window violations cause planning to wait until the location comes into the window. Destination locations that are downstream of the belt window cause window errors. Bit 4 Effect of window errors (mask value = 8) When this bit is set to one, motion instructions that fail during planning due to a window error are ignored (skipped) and program execution continues as usual.
When this option is selected, each belt- relative motion instruction should be followed by an explicit test for planning errors using the BSTATUS function. When this bit is zero, window errors during motion planning generate a program step execution error, which either halts program execution or triggers the REACTE routine. Regardless of the setting of this bit, window errors that occur while the robot is actually tracking the belt cause the program specified in the latest WINDOW instruction to be executed. If no such program has been specified, program execution is halted. Example Set the parameter to have bits 1 and 3 set to one (mask values 1 + 4):
PARAMETER BELT.MODE = 5 Related Keywords BELT system switch BELT real-valued function BSTATUS real-valued function PARAMETER monitor command PARAMETER program instruction PARAMETER real-valued function WINDOW program instruction WINDOW real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 90