Acquire Image Tool Properties The move to the destination is very similar to the approach and uses some of the same primitive functions. Once the call to pm.mv.chkbrk has completed, the software will ensure the gripper is in the correct state before continuing. Once the move has been processed and the gripper is in the correct state, the software will perform the depart motion sequence: The depart sequence is very similar to the approach sequence. Custom Process Strategy Monitoring Programs The process manager application software will run a background program on each controller that is responsible for managing part and target queues and triggering belt monitoring programs.
It is highly unlikely one would need to customize this program, but it is available in the process strategy editor here: ACE Reference Guide, 18317-000 Rev A Page 697