V+ Process Manager Documentation The move segment type: pm.ms.mv.norm - Normal Move pm.ms.mv.iad - Pick / place motion with intra approach and intra depart ms.type pm.ms.mv.iand - Pick / place with intra approach and normal depart pm.ms.mv.naid - Pick / place with normal approach and intra depart excl[] The exclusions used when picking Output Parameters Parameter Description is.reset Was the queue reset during the operation Status code: sts pm.tsk.success = Successful operation pm.tsk.abort = Abort the operation 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, pm.ms.mv.norm, , is.reset, sts) ; Perform a place CALL pm.rob.place(tsk.idx, target.idx, part.idx, -1, pm.ms.mv.norm, , is.reset, sts) ; Indicate we are entering idle mode CALL pm.rob.idlemd(tsk.idx, TRUE, 0, "") ACE Reference Guide, 18317-000 Rev A Page 798