User`s guide

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 Adept ACE Process
Manager to calibrate the location of the conveyor belt relative to the robot. For details, see
the section Belt Calibrations in the Adept ACE User's Guide. Optionally, use the file BELT_
CAL.V2 on the Adept Utility Disk contains a program to calibrate the relationship between
the belt and the robot. The program saves the calibration data in a disk file for later use by
application programs.
The DEFBELT and WINDOW program instructions must be executed before the associated
belt is referenced in a V+ program. For details, see Belt Variable Definitions on page 317. 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.
The file LOADBELT.V2 on the Adept Utility Disk contains a V+ subroutine that will load the
belt calibration data from a disk file and execute the DEFBELT and WINDOW instructions.
(See the next section.)
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.
Calibration
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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