Hi, I have a KR10 R900 robot running KSS 8.6.6

I've been trying to get Conveyor Tech to work and for most part it does. The system consists of a camera that sends the robot a coordinate to go to, while following the conveyor, and it does.

But my problem is how can I make the robot do nothing when a zero coordinate is given, i.e. camera sees nothing, and then carry on with its following. Any suggestions??

I've included the code below, up to the case statement where the movement is initiated.

Code

```
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[1] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[1]]>=R_ALARM_DIST_CONV[1] DO INT_CONV_ALARM(1)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[1] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[1]]>=R_MAX_DIST_CONV[1] DO INT_CONV_MAX_DIST(1)
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[2] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[2]]>=R_ALARM_DIST_CONV[2] DO INT_CONV_ALARM(2)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[2] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[2]]>=R_MAX_DIST_CONV[2] DO INT_CONV_MAX_DIST(2)
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[3] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[3]]>=R_ALARM_DIST_CONV[3] DO INT_CONV_ALARM(3)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[3] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[3]]>=R_MAX_DIST_CONV[3] DO INT_CONV_MAX_DIST(3)
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[4] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[4]]>=R_ALARM_DIST_CONV[4] DO INT_CONV_ALARM(4)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[4] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[4]]>=R_MAX_DIST_CONV[4] DO INT_CONV_MAX_DIST(4)
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[5] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[5]]>=R_ALARM_DIST_CONV[5] DO INT_CONV_ALARM(5)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[5] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[5]]>=R_MAX_DIST_CONV[5] DO INT_CONV_MAX_DIST(5)
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorIniOffInlineForm; ConveyorName=LinConveyor1; ConveyorId=1
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorOnInlineForm; ConveyorName=LinConveyor1; ConveyorId=1
;Fold Conveyor.FOLLOW LinConveyor1, Movement 1, Cancel on: Max_time 60, Input 1, Input-Level TRUE, Flag 1, Flag-Level TRUE, WaitDist 1300, MaxDist 1500 ;%{PE}
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorFollowInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Movement=1; Cancel on: Max_time=60; Input=1; Input-Level=TRUE; Flag=1; Flag-Level=TRUE; WaitDist=1300; MaxDist=1500
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorQuitInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Stop after error=FALSE; Reset SEN_PREA_C=TRUE
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pre; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT12; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;Fold Conveyor.Skip LinConveyor1, Skip to part index 1, Movement 1, Cancel on: Max_time 60, Input 1, Input-Level TRUE, Flag 1, Flag-Level TRUE, WaitDist 1300, MaxDist 1500 ;%{PE}
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorSkipInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Skip to part index=1; Movement=1; Cancel on: Max_time=60; Input=1; Input-Level=TRUE; Flag=1; Flag-Level=TRUE; WaitDist=1300; MaxDist=1500
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorQuitInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Stop after error=FALSE; Reset SEN_PREA_C=TRUE
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=10; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;FOLD DLIN.MOVE Process Vel.CP=15m/s Vel.Ori1=2000deg/s Vel.Ori2=2000deg/s Acc.CP=50m/s^2 Acc.Ori1=5000deg/s^2 Acc.Ori2=5000deg/s^2 Tool[1]:MainTool Base[1]:FlangeBase(LinConveyor1) CONT
;Params IlfProvider=kukaroboter.conveyor.inlineforms.dlin.dlinmoveinlineform; Kuka.IsGlobalPoint=False; Kuka.PointName=Process; Kuka.Dlin.VelCp=15; Kuka.MoveDataName=XProcess; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; Kuka.Dlin.VelOri1=2000; Kuka.Dlin.VelOri2=2000; Kuka.Dlin.AccCp=50; Kuka.Dlin.AccOri1=5000; Kuka.Dlin.AccOri2=5000; Kuka.Dlin.Cont=CONT
;FOLD DLIN.MOVE Process02 Vel.CP=15m/s Vel.Ori1=2000deg/s Vel.Ori2=2000deg/s Acc.CP=50m/s^2 Acc.Ori1=5000deg/s^2 Acc.Ori2=5000deg/s^2 Tool[1]:MainTool Base[1]:FlangeBase(LinConveyor1)
;Params IlfProvider=kukaroboter.conveyor.inlineforms.dlin.dlinmoveinlineform; Kuka.IsGlobalPoint=False; Kuka.PointName=Process02; Kuka.Dlin.VelCp=15; Kuka.MoveDataName=XProcess; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; Kuka.Dlin.VelOri1=2000; Kuka.Dlin.VelOri2=2000; Kuka.Dlin.AccCp=50; Kuka.Dlin.AccOri1=5000; Kuka.Dlin.AccOri2=5000; Kuka.Dlin.Cont=empty
```