Acquire Image Tool Properties When a custom belt control program is specified, you will start with a copy of the default belt monitoring program. That program, as noted, is responsible for monitoring all belts that are defined in the process manager. The person customizing the belt program is responsible for ensuring the customized program behaves as expected for the application. Belt Control: Default Belt Program Behavior In order to provide a custom belt program, it will be helpful to review the workings of the default belt program. To do this, we will break the code into sections.
Iterate Through the Belts In the first section, the default belt program starts by going through all defined belts. If any belts are configured to not be controlled, those belts are skipped. Evaluate Type of Belt Control For any belts that are being controlled, if the process manager is actively running, it will check to see if the belt control was configured to "always on.". If that is the case, the belt is turned on. If the belt mode is not always on, it will find the farthest downstream position of any part or target instance associated with the robot on the belt being checked. This is done in the call to pm.ps.obj.dist .
The farthest downstream instance position is compared against the off and speed threshold. The appropriate signals are asserted based on those comparisons. ACE Reference Guide, 18317-000 Rev A Page 658