V+ Process Manager Documentation Variable Usage pm.ms.aoffset Approach motion segment pm.ms.poffset Move motion segment pm.ms.doffset Depart motion segment For a standard vision refinement sequence, the following values are used for the offset parameter. Variable Usage pm.vrf.aoffset Approch motion segment pm.vrf.poffset Move motion segment pm.vrf.doffset Depart motion segment pm.mv.idle(rob.idx) Abstract Move a robot to the idle location. The robot first retracts the Z axis (maintaining the current XY position) to the level of the idle position. Once retracted it moves to idle.
Input Parameters Parameter Description rob.idx Index of the robot Output Parameters None Example CALL pm.mv.idle(rob.idx) pm.proc.enable($manager, proc.idx, state, sts) Abstract Enable or disable a process based on the process index. Input Parameters Parameter Description $manager Name of the process manager proc.idx Name of the process manager State of the process state True = Enable the process False = Disable the process ACE Reference Guide, 18317-000 Rev A Page 782