Acquire Image Tool Properties Control Loop After variable initialization has completed, the software will then enter a continuous loop as long as the process manager is running. The program simply calls other programs to ensure the servicing of the following: l Process strategy data structures (pm.psp.init) l Belt control monitoring (pm.psp.belt) l Instance processing (pm.ps.monitor) Great care should be taken when modifying this program. The servicing of these three functions is critical to the normal operation of the system. These programs affect how the robots process the instance queues.
Custom Refinement Motion Programs When a process is created, the user can define a refinement operation. When the refinement is specified, the instance will be located with a camera after the pick operation and before the placement operation. The program that defines the motions of a refinement operation can also be overridden if the default motions are not sufficient. ACE Reference Guide, 18317-000 Rev A Page 699