V+ Process Manager Documentation ; Get the number of targets available CALL pm.trg.avail(rob.idx, target.idx, count) .END pm.trg.getloc(rob.idx, trg.idx, obj.idx, pct) Abstract Get the location of a given target in the belt window.
Input Parameters Parameter Description rob.idx Index of the robot task trg.idx Target index to access obj.idx Index of the object/instance to access Output Parameters Parameter Description pct Percentage of travel along the belt Example .PROGRAM a.ex2.queues() AUTO REAL i, rob.idx, inst.idx AUTO REAL reference, pal.idx, sts, time, pct AUTO LOC position AUTO $id, $source ; Identify the first robot task rob.idx = 3 ; Go through all part queues FOR i = 0 TO pm.prt.count[rob.idx]-1 TYPE "Part Queue Name:
", $pm.prt.type[rob.idx,i] ; Go through all instances in the queue inst.idx = pm.prt.rob.idx[rob.idx,i] WHILE (inst.idx pm.prt.pc.idx[rob.idx,i]) DO CALL pm.prt.get(rob.idx, i, inst.idx, $id, position, reference, pal.idx) CALL pm.prt.get.stat(rob.idx, i, inst.idx, sts, time, $source) CALL pm.prt.getloc(rob.idx, i, inst.idx, pct) TYPE " ID = ", $id TYPE " Position = ", DX(position), ", ", DY(position), ", ", DZ(position) TYPE " Reference = ", reference TYPE " Pallet Index = ", pal.idx TYPE " Status = ", sts TYPE " Time = ", time TYPE " Source = ", $source ACE Reference Guide, 18317-000 Rev A Page 810