V+ Process Manager Documentation ; Get the index associated with the first two processes in the process manager CALL pm.ps.map.idx(0, proc.idx.1) CALL pm.ps.map.idx(1, proc.idx.2) ; Control loop DO ; Execute the first process 3 time FOR i = 1 TO 3 CALL pm.rob.process(tsk.idx, proc.idx.1, sts) END ; Execute the second process CALL pm.rob.process(tsk.idx, proc.idx.2, sts) ; Check process status CALL pm.chk.stat(is.running) UNTIL is.running == FALSE RETURN .END pm.ps.power(tsk.idx, enable) Abstract Change the power status of the system. If power is enabled, issue a calibration request, if needed. If power cannot be enabled, it will report an error.
Because of this, this method is not intended to be used from within a custom error program. It may lead to a recursive call and a stack overflow. Input Parameters Parameter Description tsk.idx The task index for error reporting enable Enable the power. Output Parameters None pm.rob.chkidle(rob.idx, part.type, grip.idx, excl[], is.reset, sts) Abstract Check the status when the robot is idle, including checking for the robot cycle stop condition. Input Parameters Parameter Description tsk.idx Index of the robot task start.time Type of part to pick ACE Reference Guide, 18317-000 Rev A Page 791