Acquire Image Tool Properties l instancesToAllocate : Output parameter containing the instances that should be sent to the next down-stream robot capable of processing the instance. It is the job of the AllocateBeltInstances to move instances from the availableInstances either the instancesToAllocate list or the instancesToSkip list. The availableInstances list is an ordered list where the first instance in the list is the farthest downstream instance that is still capable of being processed by the robot station.
If an instance is never allocated by the AllocateBeltInstances method, the instance will automatically be moved to the queue of the next downstream robot once the instance passes out of the robot belt window. Default Allocation Script: NotifyInstancesProcessed After an instance is sent to a RobotStation , the robot will either respond indicating that the instance was processed sucessfully or the instance was not processed. For example, if a belt-based instance was picked by the robot, it would respond to the PC that the instance was sucessfully processed.
However, there are times where the robot was not able to pick all the instances on the conveyor because there are too many given the belt speed. In this case, the instances are robot responds to the PC that those instances were not processed. As robots report which instances are processed and not processed, the NotifyInstanceProcessed method is called: ACE Reference Guide, 18317-000 Rev A Page 677