V+ Process Manager Documentation ; 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, "") ; Move to the current destination to ensure ; we are no longer tracking a belt.
CALL pm.mv.dest(tsk.idx) ; Wait for a period of time WAIT.EVENT , 3 ; Check to see if any errors occured while we were delaying CALL pm.chk.tskerr(tsk.idx, pm.tsk.retry, , sts) IF (sts pm.tsk.success) THEN CALL pm.mv.attach(tsk.idx, pm.tsk.robnum[tsk.idx]) END ; Indicate we are leaving idle mode CALL pm.rob.idlemd(tsk.idx, FALSE, 0, "") ; Check to see if the process manager is still running CALL pm.chk.stat(is.running) UNTIL is.running == FALSE CALL pm.rob.clear(tsk.idx, sts) RETURN .END pm.rob.init(rob.idx) Abstract Initialize the robot by attaching the robot, clearing the TOOL, moving to the idle position, and turning off all gripper signals.
Input Parameters Parameter Description rob.idx Index of the robot Output Parameters None ACE Reference Guide, 18317-000 Rev A Page 795