V+ Process Manager Documentation position Position of the instance reference Reference position of the instance pal.idx Pallet index associated with the instance Example .PROGRAM a.ex2.queues() AUTO REAL i, rob.idx, inst.idx AUTO REAL reference, pal.idx, sts, time, pct AUTO LOC position AUTO $id, $source ; Identify the first robot task rob.idx = 3 ; Go through all part queues FOR i = 0 TO pm.prt.count[rob.idx]-1 TYPE "Part Queue Name:
", $pm.prt.type[rob.idx,i] ; Go through all instances in the queue inst.idx = pm.prt.rob.idx[rob.idx,i] WHILE (inst.idx pm.prt.pc.idx[rob.idx,i]) DO CALL pm.prt.get(rob.idx, i, inst.idx, $id, position, reference, pal.idx) CALL pm.prt.get.stat(rob.idx, i, inst.idx, sts, time, $source) CALL pm.prt.getloc(rob.idx, i, inst.idx, pct) TYPE " ID = ", $id TYPE " Position = ", DX(position), ", ", DY(position), ", ", DZ(position) TYPE " Reference = ", reference TYPE " Pallet Index = ", pal.idx TYPE " Status = ", sts TYPE " Time = ", time TYPE " Source = ", $source TYPE " Location % = ", pct TYPE " " CALL pm.prt.move.ptr(inst.idx) END END ; Go through all target queues FOR i = 0 TO pm.trg.count[rob.idx]-1 TYPE "Target Queue Name:
", $pm.trg.type[rob.idx,i] ; Go through all instances in the queue inst.idx = pm.trg.rob.idx[rob.idx,i] WHILE (inst.idx pm.trg.pc.idx[rob.idx,i]) DO CALL pm.trg.get(rob.idx, i, inst.idx, $id, position, reference, pal.idx) CALL pm.trg.get.stat(rob.idx, i, inst.idx, sts, time, $source) CALL pm.trg.getloc(rob.idx, i, inst.idx, pct) ACE Reference Guide, 18317-000 Rev A Page 808