Calibration Calibration The position and orientation of the conveyor belt must be precisely known in order for the robot to track motion of the belt. Use the Belt Calibration group in the ACE Process Manager to calibrate the location of the conveyor belt relative to the robot. For details, see the section Belt Calibrations in the ACE User's Guide . The DEFBELT and WINDOW program instructions must be executed before the associated belt is referenced in a eV+ program. For details, see Belt Variable Definitions on page 199. We suggest you include these instructions in an initialization section of your application program.
Although these instructions need be executed only once, no harm is done if they are executed subsequently. While the robot is moving relative to a belt (including motions to and from the belt), all motions must be of the straight-line type. Thus APPROS, DEPARTS, MOVES, and MOVEST can be used, but APPRO, DEPART, DRIVE, MOVE, and MOVET cannot. Motion relative to a belt is terminated when the robot moves to a location that is not defined relative to the belt variable or when a belt-window violation occurs. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 191