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.place(rob.idx, target.type, part.type, grip.idx, ms.type, excl[], is.reset, sts) Abstract Perform a single place operation with the robot in the current task.
Input Parameters Parameter Description rob.tsk Index of the robot target.type The type of target to place part.type The type of part being placed grip.idx The index of the gripper tip to use -1 = All tips 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 ACE Reference Guide, 18317-000 Rev A Page 799