V+ Process Manager Documentation pm.mv.attach(tsk.idx, rob.num) Abstract Attach the robot to the current task. Input Parameters Parameter Description tsk.idx Index of the task rob.num Robot number to attach Output Parameters None Additional Notes For a robot task, the global variable pm.tsk.robnum[] saves the robot number associated with the task. 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 778