Acquire Image Tool Properties The error program will be called and passed the task number that has the error, the error code, and other details of the error. The program must pass back a status code the describes the response on how the error is to be handled in the resp parameter. The possible values are: Response Code Description pm.tsk.success The operation has completed successfully. pm.tsk.skip Stop processing current instance as if it was properly processed and move to the next operation. pm.tsk.retry Retry processing of the current instance. pm.tsk.abort Stop processing the current process and clear the gripper.
pm.tsk.next Stop processing the current instance and move to the next instance in the queue. pm.tsk.fail The operation failed. The default program will check to see if an error code indicates a belt window violation was detected. If this is true, the error program will automatically return a pm.tsk.abort response. This will cause the robot to abort the current process, clear the gripper, and look for a new process. The default program will also check to see if an error code indicates an error from the gripper operation. If this is true, the error program will automatically return a pm.tsk.fail response.
Doing so, the part or target that was being processed will be marked as failed causing the system to remove it from queues and not pushing it to the next robot on the conveyor : indeed we assume it may have moved when we tried to process it. If the error is not a belt window violation, the default program will call pm.error, which will send the error to display on the process manager runtime control. When called, the error is presented to the user and any response will be returned. Some applications may want to display errors in a different way.
For example, if a user wants to display an error using an IO panel with lights and monitor for button presses, the application should not call the pm.error program. Rather, it should turn on IO signals to indicate an error has been detected and then monitor for the press of a button through digital input points. Custom IO Feeder Programs When an IO Feeder is created it comes with a standard program managing a sequence of input and output signals and performing the feeding operation of the device. If the default sequence does not meet the requirements, the program that governs the behavior of the IO Feeder can be customized.
Customizing The Feeding Sequence The IO Feeder editor defines all the parameters used when feeding parts or targets. The program managing the sequence can be overridden: ACE Reference Guide, 18317-000 Rev A Page 685