V+ Process Manager Documentation ; Wait for a period of time WAIT.EVENT , 3 ; Check to see if any errors occured while we were delaying CALL pm.chk.tskerr(tsk.idx, pm.tsk.retry, , sts) IF (sts pm.tsk.success) THEN CALL pm.mv.attach(tsk.idx, pm.tsk.robnum[tsk.idx]) END ; Indicate we are leaving idle mode CALL pm.rob.idlemd(tsk.idx, FALSE, 0, "") ; Check to see if the process manager is still running CALL pm.chk.stat(is.running) UNTIL is.running == FALSE CALL pm.rob.clear(tsk.idx, sts) RETURN .END pm.mv.chkbrk(offset, pars[]) Abstract Check for a break in motion using the specified motion parameters.
Input Parameters Parameter Description offset Starting index in the motion parameters array pars[] Motion parameters array Output Parameters None pm.mv.dest(rob.idx) Abstract Move to the current destination. Used to stop robot fram tracking a part. Input Parameters Parameter Description rob.idx Index of the robot Output Parameters None ACE Reference Guide, 18317-000 Rev A Page 779