V+ Process Manager Documentation ; 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.process(rob.idx, proc.idx, sts) Abstract Converts a process index from the PC to a robot-relative index. Input Parameters Parameter Description rob.idx Index of the robot to drive proc.idx Process to operate with Output Parameters Parameter Description sts Status code pm.tsk.success = Successful operation pm.tsk.skip = Skip the operation pm.tsk.abort = Abort the operation Example .PROGRAM cu.robot2() ; ABSTRACT:
Custom robot program for the Process Manager ; Process Strategy. AUTO REAL task.idx, i, sts AUTO REAL proc.idx.1, proc.idx.2 tsk.idx = TASK() ; Initialize the robot CALL pm.rob.init(tsk.idx) CALL pm.rob.idlemd(tsk.idx, TRUE) ; 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 ACE Reference Guide, 18317-000 Rev A Page 801