V+ Process Manager Documentation Example This program is always used in the context of a robot program and should always be called directly from the robot task.
.PROGRAM a.ex2.gripper() AUTO REAL tsk.idx, sts AUTO LOC tool.trans tsk.idx = TASK() ; Select the first tip CALL pm.gr.select(tsk.idx, 0) ; Select all tips CALL pm.gr.select(tsk.idx, -1) ; Unselect all tips CALL pm.gr.unselect(tsk.idx) ; Extend tip #1 and #2 CALL pm.gr.state(tsk.idx, 0, TRUE, TRUE, sts) CALL pm.gr.state(tsk.idx, 1, TRUE, TRUE, sts) ; Set the offset associated with tip #2 CALL pm.gr.setoff(tsk.idx, 0, NULL, sts) ; Get the offset associated with tip #2 CALL pm.gr.trans(tsk.idx, 0, tool.trans, sts) .END pm.log($text) Abstract Send text associated with the current task to the AceServer log file.
Input Parameters Parameter Description $text The text to append to the AceServer log on the PC Output Parameters None Additional Notes The pm.log method should only be called on a process manager task. The program will check to see if logging is enabled before sending the log string to the PC. The variable pm.log will enable logging on all V+ process manager tasks. If you want to enable logging for an individual V+ task, the variable pm.tsk.log [TASK()] can be set to TRUE . ACE Reference Guide, 18317-000 Rev A Page 777