V+ Process Manager Documentation in.idle The reference time when the robot entered idle mode at.wait Is the robot at the waiting position Output Parameters Parameter Description in.idle Is the robot in idle mode at.wait Is the robot at the waiting position pm.rob.clear(rob.idx) Abstract Move the robot to the idle position and clear the robot gripper. Input Parameters Parameter Description rob.idx Index of the robot Output Parameters None Example .PROGRAM cu.robot() ; ABSTRACT: Custom robot program for the Process Manager ; Process Strategy.
AUTO REAL tsk.idx, is.reset, , is.running, sts AUTO REAL part.idx, target.idx tsk.idx = TASK() ; Initialize the robot CALL pm.rob.init(tsk.idx) CALL pm.rob.idlemd(tsk.idx, TRUE, 0, "") ; Get the part and target indexes CALL pm.prt.get.idx(tsk.idx, "/Process/Part - Spacing 2", part.idx) CALL pm.trg.get.idx(tsk.idx, "/Process/Target 2 - Static", target.idx) ; Control loop DO ; Perform a pick CALL pm.rob.pick(tsk.idx, part.idx, -1, , is.reset, sts) ; Perform a place CALL pm.rob.place(tsk.idx, target.idx, part.idx, -1, , is.reset, sts) ; Indicate we are entering idle mode CALL pm.rob.idlemd(tsk.idx, TRUE, 0, "") ACE Reference Guide, 18317-000 Rev A Page 792