V+ Process Manager Documentation pm.chk.tskerr(tsk.idx, resp.mask, code, resp) Abstract Check for error conditions and display an error if one exists on the specified task. Input Parameters Parameter Description tsk.idx Index of the task. resp.mask Possible responses to the error. Output Parameters Parameter Description code Detected error code, or 0 if no error detected resp Response to the error Example .PROGRAM cu.robot() ; ABSTRACT: Custom robot program for the Process Manager ; Process Strategy.
AUTO REAL tsk.idx, is.reset, , is.running, sts AUTO REAL part.idx, target.idx tsk.idx = TASK() ; Initialize the robot CALL pm.rob.init(tsk.idx) CALL pm.rob.idlemd(tsk.idx, TRUE, 0, "") ; Get the part and target indexes CALL pm.prt.get.idx(tsk.idx, "/Process/Part - Spacing 2", part.idx) CALL pm.trg.get.idx(tsk.idx, "/Process/Target 2 - Static", target.idx) ; Control loop DO ; Perform a pick CALL pm.rob.pick(tsk.idx, part.idx, -1, , is.reset, sts) ; Perform a place CALL pm.rob.place(tsk.idx, target.idx, part.idx, -1, , is.reset, sts) ; Indicate we are entering idle mode CALL pm.rob.idlemd(tsk.idx, TRUE, 0, "") ; Move to the current destination to ensure ; we are no longer tracking a belt.
CALL pm.mv.dest(tsk.idx) ACE Reference Guide, 18317-000 Rev A Page 768