Acquire Image Tool Properties When an instance is identified by a hardware source, it is unallocated. The process strategy code will identify the first robot capable of processing the instance. For belt based instances, this will be the farthest upstream robot that can pick the part. When the instance is associated with a given robot, it is put in a "potential queue." These are instances that are allocated to a robot but have not been sent to the controller for processing by the robot controller. If space is available in the queue of instances on the robot controller, the part is moved to the "allocated queue" and sent to the robot controller.
When the robot controller is finished processing an instance, it will send a message to the process strategy indicating if the instance was processed or if the part was skipped. If the part was processed, the instance is removed from all tracking structures on the PC. If the part was not processed, the instance is moved to the "potential queue" of the next robot that can process the instance. If there are no more robots capable of processing the instance, the instance is removed from all tracking structures. ACE Reference Guide, 18317-000 Rev A Page 673