V+ Process Manager Documentation $tag Tag associated with the instance Output Parameters None 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 sts = pm.tsk.success $tag = "My Tag String" CALL pm.rob.settag(tsk.idx, $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.sig.check(sig, time, is.valid) Abstract Checks for the status of a digital signal ensuring the state is valid for the specified amount of time.
This method does not block execution. Input Parameters Parameter Description sig Signal to be checked time Amount of time the signal is expected to be in the state Output Parameters Parameter Description is.valid Is the signal in the specified state Example .PROGRAM a.ex2.debounce() AUTO REAL sig, is.on, debounce.time ; Define the signal and the amount of time we want the signal ; to remain on before we recognize it is on ACE Reference Guide, 18317-000 Rev A Page 803