V+ Process Manager Documentation ; Move to the current destination to ensure ; we are no longer tracking a belt.
CALL pm.mv.dest(tsk.idx) ; 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.rob.gettag(rob.idx, $tag) Abstract Returns the tag associated with the part or target instance currently being operated on by the robot.
Typically, this would be called from within a custom motion sequence program to access information that was associated with a VisionTransform Tag associated with a custom vision tool or the Tag associated with a LocatedInstance set by a custom allocation script.
Input Parameters Parameter Description tsk.idx Index of the robot Output Parameters Parameter Description $tag Tag associated with the instance being processed Example .PROGRAM cu.mv.sequence(tsk.idx, $type, blt.idx, reference, pal.idx, grip.idx, grip.state, pos, vals[], sts) AUTO REAL at.wait, belt.win.idx, code, distance, offset AUTO REAL resp, rob.num AUTO $cust.program, $tag AUTO LOC appro.pos, depart.pos, grip.trans, position ACE Reference Guide, 18317-000 Rev A Page 793