V+ Process Manager Documentation sts = pm.tsk.success CALL pm.rob.gettag(tsk.idx, $tag) TYPE "Tag = "+$tag ; Calculate the position, factoring in the gripper transformations ; Initiate the gripper selection CALL pm.gr.select(tsk.idx, grip.idx) ; Get the gripper transformation CALL pm.gr.trans(tsk.idx, grip.idx, grip.trans, sts) pm.rob.idlemd(rob.tsk, in.idle, code, $info) Abstract Change the idle status of the robot. This program sets the status in global memory. It expects the process strategy background program to perform the sending of the status to the PC. Input Parameters Parameter Description rob.tsk Index of the robot in.idle Is the robot in idle mode?
True = Robot is idle False = Robot is running code Error code associated with the idle mode state. If non-zero, an error will be reported Additional information to send with the error code. $info This is used by 'pm.err.no.inst' to send the name of the part or target the robot is waiting for. Output Parameters None 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, "") ACE Reference Guide, 18317-000 Rev A Page 794