i668-e-01_v+

V+ Module
Reference Manual
I668-E-01
NOTE
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transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or other-
wise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover,
because OMRON is constantly striving to improve its high-quality products, the information contained
in this manual is subject to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this publica-
tion.
Trademarks
Company names and product names in this document are the trademarks or registered trademarks of
their respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Introduction
Introduction
This manual is OMRON's original instructions describing the use of V+ Modules.
These modules can only be used when the ACE server is running or a connection to ACE is present.
Please read this manual and make sure you understand the functionality and performance of the sys-
tem before attempting to use these modules.
Keep this manual in a safe place where it will be available for reference during programming and con-
figuration.
V+ Module Reference Manual (I668) 1

Introduction
2 V+ Module Reference Manual (I668)

Sections in this Manual
Sections in this Manual

1
2
1 V+ AceServer Module
3
2 V+ Robot Vision Manager Module

4
3 V+ End-effector Module
5
4 V+ Process Manager Module
5 V+ Remote Library Module

CONTENTS
CONTENTS
Introduction .............................................................................................................. 1
Sections in this Manual ........................................................................................... 3
Terms and Conditions Agreement.......................................................................... 8

Warranty and Limitations of Liability ................................................................................................................8
Application Considerations ..............................................................................................................................8
Disclaimers ......................................................................................................................................................9
Section 1 V+ AceServer Module

1-1 sv.create_msg ........................................................................................................................1-3
1-2 sv.read_adouble.....................................................................................................................1-4
1-3 sv.read_ashort........................................................................................................................1-5
1-4 sv.read_asingle ......................................................................................................................1-6
1-5 sv.read_astring.......................................................................................................................1-7
1-6 sv.read_bool ...........................................................................................................................1-8
1-7 sv.read_byte .........................................................................................................................1-10
1-8 sv.read_double.....................................................................................................................1-12
1-9 sv.read_short........................................................................................................................1-14
1-10 sv.read_single ......................................................................................................................1-16
1-11 sv.read_string.......................................................................................................................1-18
1-12 sv.read_trans........................................................................................................................1-20
1-13 sv.sig.is.equal.......................................................................................................................1-22
1-14 sv.stop_collect .....................................................................................................................1-24
1-15 sv.write..................................................................................................................................1-25
1-16 sv.write_abyte ......................................................................................................................1-26
1-17 sv.write_adoubl ....................................................................................................................1-27
1-18 sv.write_ashort.....................................................................................................................1-28
1-19 sv.write_asingl .....................................................................................................................1-29
1-20 sv.write_astrin ......................................................................................................................1-30
1-21 sv.write_bool ........................................................................................................................1-31
1-22 sv.write_byte ........................................................................................................................1-33
1-23 sv.write_hdr ..........................................................................................................................1-35
1-24 sv.write_short.......................................................................................................................1-36
1-25 sv.write_single .....................................................................................................................1-38
1-26 sv.write_string......................................................................................................................1-40
1-27 sv.write_trans .......................................................................................................................1-42
Section 2 V+ Robot Vision Manager Module

2-1 as.save.image.........................................................................................................................2-2

CONTENTS
2-2 check_tracking.......................................................................................................................2-3
2-3 clear_queue ............................................................................................................................2-4
2-4 getinstance .............................................................................................................................2-5
2-5 reset_seq ................................................................................................................................2-6
2-6 set_as_exec_mod ..................................................................................................................2-7
Section 3 V+ End-effector Module

3-1 ee.chk.er .................................................................................................................................3-2
3-2 ee.chk.oc.................................................................................................................................3-3
3-3 ee.clroff ...................................................................................................................................3-4
3-4 ee.gr.settle ..............................................................................................................................3-5
3-5 ee.gr.tip.er...............................................................................................................................3-6
3-6 ee.presence ............................................................................................................................3-7
3-7 ee.release................................................................................................................................3-8
3-8 ee.select..................................................................................................................................3-9
3-9 ee.select.ck........................................................................................................................... 3-11
3-10 ee.setoff ................................................................................................................................3-12
3-11 ee.state..................................................................................................................................3-14
3-12 ee.tip.erdw ............................................................................................................................3-16
3-13 ee.tip.oc ................................................................................................................................3-17
3-14 ee.unselect ...........................................................................................................................3-18
3-15 Error Codes ..........................................................................................................................3-19
Section 4 V+ Process Manager Module

4-1 pm.ace.blt.cam .......................................................................................................................4-3
4-2 pm.ace.blt.ltch........................................................................................................................4-4
4-3 pm.ace.blt.pos........................................................................................................................4-5
4-4 pm.ace.blt.sp ..........................................................................................................................4-6
4-5 pm.ace.pkstate .......................................................................................................................4-7
4-6 pm.ace.ref ...............................................................................................................................4-8
4-7 pm.ace.ref.wt ..........................................................................................................................4-9
4-8 pm.blt.convert ......................................................................................................................4-10
4-9 pm.blt.travel.......................................................................................................................... 4-11
4-10 pm.chk.run............................................................................................................................4-12
4-11 pm.chk.stat ...........................................................................................................................4-13
4-12 pm.chk.tskerr .......................................................................................................................4-15
4-13 pm.def.btn.txt .......................................................................................................................4-17
4-14 pm.def.err.txt ........................................................................................................................4-18
4-15 pm.fdr.state...........................................................................................................................4-19
4-16 pm.get.free.tsk .....................................................................................................................4-20

CONTENTS
4-17 pm.get.type...........................................................................................................................4-21
4-18 pm.gr.clroff ...........................................................................................................................4-22
4-19 pm.gr.release........................................................................................................................4-23
4-20 pm.gr.select ..........................................................................................................................4-24
4-21 pm.gr.select.ck .....................................................................................................................4-26
4-22 pm.gr.setoff ..........................................................................................................................4-27
4-23 pm.gr.settle...........................................................................................................................4-29
4-24 pm.gr.state............................................................................................................................4-30
4-25 pm.gr.trans ...........................................................................................................................4-32
4-26 pm.gr.unselect......................................................................................................................4-34
4-27 pm.log ...................................................................................................................................4-35
4-28 pm.mv ...................................................................................................................................4-36
4-29 pm.mv.attach ........................................................................................................................4-38
4-30 pm.mv.chkbrk.......................................................................................................................4-40
4-31 pm.mv.dest ...........................................................................................................................4-41
4-32 pm.mv.idle ............................................................................................................................4-43
4-33 pm.proc.enable ....................................................................................................................4-45
4-34 pm.prt.avail...........................................................................................................................4-46
4-35 pm.prt.done ..........................................................................................................................4-47
4-36 pm.prt.get .............................................................................................................................4-48
4-37 pm.prt.get.idx .......................................................................................................................4-50
4-38 pm.prt.getloc ........................................................................................................................4-51
4-39 pm.prt.move.ptr....................................................................................................................4-53
4-40 pm.ps.error ...........................................................................................................................4-55
4-41 pm.ps.map.idx......................................................................................................................4-56
4-42 pm.ps.power.........................................................................................................................4-58
4-43 pm.rob.chkidle .....................................................................................................................4-59
4-44 pm.rob.clear .........................................................................................................................4-60
4-45 pm.rob.gettag .......................................................................................................................4-62
4-46 pm.rob.idlemd ......................................................................................................................4-63
4-47 pm.rob.init ............................................................................................................................4-65
4-48 pm.rob.monque....................................................................................................................4-67
4-49 pm.rob.pick...........................................................................................................................4-68
4-50 pm.rob.place.........................................................................................................................4-70
4-51 pm.rob.process ....................................................................................................................4-72
4-52 pm.rob.refine ........................................................................................................................4-74
4-53 pm.rob.settag .......................................................................................................................4-75
4-54 pm.sig.check ........................................................................................................................4-76
4-55 pm.sig.clear ..........................................................................................................................4-77
4-56 pm.src.clear..........................................................................................................................4-78
4-57 pm.src.clearall......................................................................................................................4-79
4-58 pm.trg.avail...........................................................................................................................4-80

CONTENTS
4-59 pm.trg.done ..........................................................................................................................4-81

4-60 pm.trg.get .............................................................................................................................4-82
4-61 pm.trg.get.idx .......................................................................................................................4-84
4-62 pm.trg.getloc ........................................................................................................................4-85
4-63 pm.trg.move.ptr....................................................................................................................4-87
Section 5 V+ Remote Library Module

5-1 Error Codes ............................................................................................................................5-3
5-2 rm.app.event...........................................................................................................................5-4
5-3 rm.chk.server .........................................................................................................................5-5
5-4 rm.execute ..............................................................................................................................5-6
5-5 rm.execute3 ............................................................................................................................5-8
5-6 rm.find_ip..............................................................................................................................5-10
5-7 rm.pc.fapp............................................................................................................................. 5-11
5-8 rm.pc.fapps...........................................................................................................................5-13
5-9 rm.pc.fapps2.........................................................................................................................5-15
5-10 rm.pc.fcopy...........................................................................................................................5-17
5-11 rm.pc.fdel..............................................................................................................................5-19
5-12 rm.pc.fdir ..............................................................................................................................5-21
5-13 rm.pc.log...............................................................................................................................5-23
5-14 rm.read.anums .....................................................................................................................5-24
5-15 rm.read.num .........................................................................................................................5-26
5-16 rm.read.nums .......................................................................................................................5-28
5-17 rm.read.str ............................................................................................................................5-30
5-18 rm.read.strs ..........................................................................................................................5-32
5-19 rm.read.trns ..........................................................................................................................5-33
5-20 rm.read.trnss ........................................................................................................................5-35
5-21 rm.save .................................................................................................................................5-36
5-22 rm.write.anums ....................................................................................................................5-37
5-23 rm.write.num ........................................................................................................................5-39
5-24 rm.write.nums ......................................................................................................................5-41
5-25 rm.write.str ...........................................................................................................................5-43
5-26 rm.write.strs .........................................................................................................................5-45
5-27 rm.write.trns .........................................................................................................................5-46
5-28 rm.write.trnss .......................................................................................................................5-48

Terms and Conditions Agreement
Warranty and Limitations of Liability
Warranty
• Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman-
ship for a period of twelve months from the date of sale by Omron (or such other period expressed
in writing by Omron). Omron disclaims all other warranties, expressed or implied.
• Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
• Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be re-
sponsible for warranty, repair, indemnity or any other claims or expenses regarding the Products un-
less Omron’s analysis confirms that the Products were properly handled, stored, installed and main-
tained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any
Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall
not be liable for the suitability or unsuitability or the results from the use of Products in combination
with any electrical or electronic components, circuits, system assemblies or any other materials or
substances or environments. Any advice, recommendations or information given orally or in writing,
are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitations of Liability
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SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability of Omron Com-
panies exceed the individual price of the Product on which liability is asserted.
Application Considerations

Suitability for Use

Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buy-
er’s request, Omron will provide applicable third party certification documents identifying ratings and
limitations of use which apply to the Product. This information by itself is not sufficient for a complete
determination of the suitability of the Product in combination with the end product, machine, system, or
other application or use. Buyer shall be solely responsible for determining appropriateness of the par-
ticular Product with respect to Buyer’s application, product or system. Buyer shall take application re-
sponsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND IN-
STALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
• Omron Companies shall not be responsible for the user’s programming of a programmable Product,
or any consequence thereof.
• Omron Companies shall not be responsible for the operation of the user accessible operating sys-
tem (e.g. Windows, Linux), or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual per-
formance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and oth-
er reasons. It is our practice to change part numbers when published ratings or features are changed,
or when significant construction changes are made. However, some specifications of the Product may
be changed without any notice. When in doubt, special part numbers may be assigned to fix or estab-
lish key specifications for your application. Please consult with your Omron’s representative at any
time to confirm actual specifications of purchased Product.
Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.


1 1
V+ AceServer Module
The information in this section documents the V+ programs that a user might use in
the process of customizing an application leveraging ACE.
1-1 sv.create_msg................................................................................................. 1-3

1-2 sv.read_adouble ............................................................................................. 1-4
1-3 sv.read_ashort ................................................................................................ 1-5
1-4 sv.read_asingle............................................................................................... 1-6
1-5 sv.read_astring ............................................................................................... 1-7
1-6 sv.read_bool ................................................................................................... 1-8
1-7 sv.read_byte.................................................................................................. 1-10
1-8 sv.read_double ............................................................................................. 1-12
1-9 sv.read_short ................................................................................................ 1-14
1-10 sv.read_single............................................................................................... 1-16
1-11 sv.read_string ............................................................................................... 1-18
1-12 sv.read_trans ................................................................................................ 1-20
1-13 sv.sig.is.equal ............................................................................................... 1-22
1-14 sv.stop_collect.............................................................................................. 1-24
1-15 sv.write .......................................................................................................... 1-25
1-16 sv.write_abyte............................................................................................... 1-26
1-17 sv.write_adoubl ............................................................................................ 1-27
1-18 sv.write_ashort ............................................................................................. 1-28
1-19 sv.write_asingl.............................................................................................. 1-29
1-20 sv.write_astrin .............................................................................................. 1-30
1-21 sv.write_bool................................................................................................. 1-31
1-22 sv.write_byte................................................................................................. 1-33
1-23 sv.write_hdr .................................................................................................. 1-35
1-24 sv.write_short ............................................................................................... 1-36
1-25 sv.write_single.............................................................................................. 1-38
V+ Module Reference Manual (I668) 1-1

1-26 sv.write_string .............................................................................................. 1-40

1-27 sv.write_trans ............................................................................................... 1-42
1-2 V+ Module Reference Manual (I668)

1-1 sv.create_msg
1-1 sv.create_msg
Creates a new message, initializing the header for writing.
Syntax
1
sv.create_msg(msg_num, handle, ptr)
Input Parameters
Parameter Description
msg_num Message number to create
Outputs Parameters
handle Handle to new message
ptr Pointer into the new message

1-2 sv.read_adouble
Read an array of double-precision floats from the message buffer. The message pointer is increment-
ed after the read.
Syntax
sv.read_adouble(handle, ptr, offset, value[], n_items)
Input Parameters
handle Index of the message to read from
ptr Position in the message buffer to read at
offset Offset into output array for first item. 0 is default
Output Parameters
ptr Index pointing to the next data item in the message
value[] Array filled with data read
n_items Number of items read

1-3 sv.read_ashort
1-3 sv.read_ashort
Read an array of 16-bit integers from the message buffer. The message pointer is incremented after
the read.
Syntax 1
sv.read_ashort(handle, ptr, offset, value[], n_items)
Input Parameters
Output Parameters

1-4 sv.read_asingle
Read an array of single-precision float variables from the message buffer. The message pointer is in-
cremented after the read.
Syntax
sv.read_asingle(handle, ptr, offset, value[], n_items)
Input Parameters
Output Parameters

1-5 sv.read_astring
1-5 sv.read_astring
Read an array of strings from the message buffer. The message pointer is incremented after the read
Syntax
1
sv.read_astring(handle, ptr, offset, $value[], n_items)
Input Parameters
Output Parameters
$value[] Array filled with data read

1-6 sv.read_bool
Read a boolean from the message buffer. The message pointer is incremented after the read.
Syntax
sv.read_bool(handle, ptr, value)
Input Parameters
Output Parameters
value Value of the parameter read from the message stream
Example
.PROGRAM ex1.msg(handle, ptr)
; ABSTRACT: Demonstrate writing then reading to a message buffer
;
INPUTS: handle: Index of the message to write into
; ptr: Position in the message buffer
AUTO REAL saved.ptr

AUTO REAL bool.val, byte.val, double.val, short.val
AUTO REAL single.val
AUTO $string.val
AUTO LOC trans.val
; Save the original position of the pointer

saved.ptr = ptr
; Write some data

CALL sv.write_bool(TRUE, handle, ptr)
CALL sv.write_byte(8, handle, ptr)
CALL sv.write_double(100.1, handle, ptr)
CALL sv.write_short(2, handle, ptr)
CALL sv.write_single(121.2, handle, ptr)
CALL sv.write_string("Text", handle, ptr)

CALL sv.write_trans(NULL, handle, ptr)
1-6 sv.read_bool
; Read the data that was written
CALL sv.read_bool(handle, saved.ptr, bool.val)
CALL sv.read_byte(handle, saved.ptr, byte.val)
CALL sv.read_double(handle, saved.ptr, double.val)
CALL sv.read_short(handle, saved.ptr, short.val)
CALL sv.read_single(handle, saved.ptr, single.val) 1
CALL sv.read_string(handle, saved.ptr, $string.val)
CALL sv.read_trans(handle, saved.ptr, trans.val)
.END

1-7 sv.read_byte
Reads a byte from the message buffer. The message pointer is incremented after the read.
Syntax
sv.read_byte(handle, ptr, value)
Input Parameters
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-7 sv.read_byte
.END

1-8 sv.read_double
Read a double-precision float from the message buffer. The message pointer is incremented after the
read.
Syntax
sv.read_double(handle, ptr, value)
Input Parameters
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-8 sv.read_double

CALL sv.read_short(handle, saved.ptr, short.val) 1
CALL sv.read_single(handle, saved.ptr, single.val)
.END

1-9 sv.read_short
Read a 16-bit integer from the message buffer. The message pointer is incremented after the read.
Syntax
sv.read_short(handle, ptr, value)
Input Parameters
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-9 sv.read_short
.END

1-10 sv.read_single
Read a single-precision float from the message buffer. The message pointer is incremented after the
read.
Syntax
sv.read_single(handle, ptr, value)
Input Parameters
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-10 sv.read_single

CALL sv.read_short(handle, saved.ptr, short.val) 1
.END

1-11 sv.read_string
Read a string from the message buffer. The message pointer is incremented after the read.
Syntax
sv.read_string(handle, ptr, $string)
Input Parameters
Output Parameters
$string Value of the parameter read from the message stream
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-11 sv.read_string
.END

1-12 sv.read_trans
Read a transform from the message buffer. The message pointer is incremented after the read.
Syntax
sv.read_trans(handle, ptr, trans)
Input Parameters
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-12 sv.read_trans
.END

1-13 sv.sig.is.equal
Compares a signal to an expected value. This method is employed when a program checks if a signal
is at the expected state. It encapsulates the comparison process but it also manages whether a pro-
gram is running on an emulator or not. In the case of an emulator, reading inputs can be a problem as
in emulator mode an external system generating the input signals is not available. In emulator mode,
this method will always consider the signal to be at the expected state and then always return true.
Syntax
sv.sig.is.equal(sig.num, expected.val, is.equal.res)
Input Parameters
sig.num The signal number we want to check.
expected.val The expected signal value.
Output Parameters
is.equal.res The result value, indicating if signal is at the expected
value.
Example
.PROGRAM ex1()
; ABSTRACT: Demonstrate comparing a signal to an expected value
;;
INPUTS:
AUTO REAL my.signal1 = 1001
AUTO REAL my.signal2 = 1002
AUTO REAL is.off, is.on
; Check a signal is not at an incorrect value. This is checking an error case
; In emulator mode, is.off will always be true and program will not generate errors
CALL sv.sig.is.equal(my.signal1, FALSE, is.off)
IF NOT is.off THEN
TYPE "input is not at the correct state : it is on and should be off."
END
; wait a signal is at the expected value. If emulation mode is active, true will be
returned and program can continue.
; In normal mode, the signal is read periodically and is compared to expected value
.
DO

CALL sv.sig.is.equal(my.signal2, TRUE, is.on)
1-13 sv.sig.is.equal
UNTIL is.on
.END

1-14 sv.stop_collect
Stop the data collection operations on the specified robot.
Syntax
sv.stop_collect(robot.num)
Input Parameters
robot.num The robot number to stop data collection on.
Output Parameters
None

1-15 sv.write
1-15 sv.write
Write a message to the client.
Syntax
1
sv.write(handle, ptr)
Input Parameters
handle Index of the message to write to
ptr Position in the message buffer to write at
Output Parameters

1-16 sv.write_abyte
Write an array of bytes to the output message at the specified offset.
Syntax
sv.write_abyte($string[], offset, count, handle, ptr)
Input Parameters
$string Array of strings to write
offset 1-based starting byte offset in thestring array
count Number of bytes to transfer
Output Parameters

1-17 sv.write_adoubl
1-17 sv.write_adoubl
Write an array of doubles to the output message at the specified offset.
Syntax
1
sv.write_adoubl(first_index, value[], n_items, handle, ptr)
Input Parameters
first_index First index in the array to write
value[] Array of data values to write
n_items Number of items in value[] to write into the buffer
Output Parameters

1-18 sv.write_ashort
Write an array of shorts to the output message at the specified offset.
Syntax
sv.write_ashort(first_index, value[], n_items, handle, ptr)
Input Parameters
Output Parameters

1-19 sv.write_asingl
1-19 sv.write_asingl
Write an array of floats to the output message at the specified offset.
Syntax
1
sv.write_asingl(first_index, value[], n_items, handle, ptr)
Input Parameters
Output Parameters

1-20 sv.write_astrin
Write an array of strings to the output message at the specified offset.
Syntax
sv.write_astrin(first_index, $value[], n_items, handle, ptr)
Input Parameters
$value[] Array of data values to write
Output Parameters

1-21 sv.write_bool
1-21 sv.write_bool
Write a boolean to the output message at the specified offset.
Syntax
1
sv.write_bool(value, handle, ptr)
Input Parameters
value Value to write
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data



.END

1-22 sv.write_byte
1-22 sv.write_byte
Write a byte to the output message at the specified offset.
Syntax
1
sv.write_byte(value, handle, ptr)
Input Parameters
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data



.END

1-23 sv.write_hdr
1-23 sv.write_hdr
Write the header for an output message.
Syntax
1
sv.write_hdr(handle, ptr)
Input Parameters
Output Parameters
None

1-24 sv.write_short
Write a 16-bit integer to the output message at the specified offset.
Syntax
sv.write_short(value, handle, ptr)
Input Parameters
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-24 sv.write_short
.END

1-25 sv.write_single
Write a float to the output message at the specified offset.
Syntax
sv.write_single(value, handle, ptr)
Input Parameters
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-25 sv.write_single
.END

1-26 sv.write_string
Write a string to the output message at the specified offset.
Syntax
sv.write_string($string, handle, ptr)
Input Parameters
$string Value to write
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-26 sv.write_string
.END

1-27 sv.write_trans
Write a transform to the output message at the specified offset.
Syntax
sv.write_trans(trans, handle, ptr)
Input Parameters
trans Value to write
Output Parameters
Example
;
AUTO REAL saved.ptr

AUTO $string.val
AUTO LOC trans.val

saved.ptr = ptr
; Write some data


1-27 sv.write_trans
.END


2
2
V+ Robot Vision Manager Module
The information in this section documents the V+ programs that can be used to inter-
act with the Robot Vision Manager.
2-1 as.save.image ................................................................................................. 2-2

2-2 check_tracking ............................................................................................... 2-3
2-3 clear_queue .................................................................................................... 2-4
2-4 getinstance ..................................................................................................... 2-5
2-5 reset_seq ........................................................................................................ 2-6
2-6 set_as_exec_mod .......................................................................................... 2-7

2-1 as.save.image
Save the image associated with the vision tool into a file.
Syntax
as.save.image($filename, $ip, seq.idx, tool.idx, status)
Input Parameters
$filename The name of the file to save into
$ip The IP address of the PC
seq.idx The index of the sequence
tool.idx The index of the virtual camera ; or other image tool
Output Parameters
status Status of the operation. 0 = Success

2-2 check_tracking
This function is used to check if the robot is successfully tracking the belt
2-2 check_tracking
Syntax
check_tracking(tracking_ok)
2
Input Parameters
None
Output Parameters
tracking_ok If true, the robot is tracking the belt successfully; other-
wise an error occured while tracking the belt

2-3 clear_queue
Clears a Robot Vision Manager queue.
Syntax
clear_queue(queue_index)
Input Parameters
queue_index The index of the queue to clear
Output Parameters
None

2-4 getinstance
This function is the main function called to retrieve the instance.
2-4 getinstance
Syntax
getinstance(queue_index, flags, location, model, encoder, visionx, visiony, visionrot)
2
Input Parameters
queue_index This is the queue index in which we want to retrieve
the instance
flags Flag bits to control operation of the routine:
• Bit 1: If set, routine waits for queue element to be
defined; otherwise, "fail" if the element is not de-
fined
• Bit 2: If set, do not remove the instance from the
queue; otherwise, remove the instance from the
queue.
• Bit 3: If set, we are sure there is an instance in the
queue. When using this bit, the calling program is
responsible for checking if an instance is ready in
the queue; otherwise, getinstance will check if there
is an instance before retrieving it from the queue.
Output Parameters
location Location of the part found by the Robot Vision Manag-
er. The location can be relative to the belt reference
frame or the robot reference frame depending on the
option selected in the communication tool on the Ro-
bot Vision Manager side.model.
model Model Index (-1 if there was an error)
encoder Contains the encoder value when the instance was
found.
visionx Countains the part X position in the vision coordinates
reference frame
visiony Countains the part Y position in the vision coordinates
reference frame
visionrot Countains the part Rotation in the vision coordinates
reference frame

2-5 reset_seq
Reset a Robot Vision Manager sequence.
Syntax
reset_seq($myip, seq_id)
Input Parameters
$myip String containing the IP Address of the Robot Vision
Manager vision server
seq_id Index of the sequence to reset
Output Parameters
None

2-6 set_as_exec_mod
2-6 set_as_exec_mod
Set the Robot Vision Manager execution mode for a given sequence.
Syntax
set_as_exec_mod($myip, seq_id, mode)
2
Input Parameters
$myip String containing the IP Address of the Robot Vision
Manager vision server
seq_id Index of the sequence to reset
mode Desired Robot Vision Manager execution.
0 = Single execution mode; otherwise: Continuous ex-
ecution mode
Output Parameters
None


3
V+ End-effector Module
3
The information in this section documents the V+ programs that can be used to inter-
act with the end-effector. These programs are a subset of the AceServer module.
3-1 ee.chk.er.......................................................................................................... 3-2

3-2 ee.chk.oc ......................................................................................................... 3-3
3-3 ee.clroff ........................................................................................................... 3-4
3-4 ee.gr.settle ...................................................................................................... 3-5
3-5 ee.gr.tip.er ....................................................................................................... 3-6
3-6 ee.presence .................................................................................................... 3-7
3-7 ee.release ........................................................................................................ 3-8
3-8 ee.select .......................................................................................................... 3-9
3-9 ee.select.ck ................................................................................................... 3-11
3-10 ee.setoff ........................................................................................................ 3-12
3-11 ee.state .......................................................................................................... 3-14
3-12 ee.tip.erdw .................................................................................................... 3-16
3-13 ee.tip.oc......................................................................................................... 3-17
3-14 ee.unselect.................................................................................................... 3-18
3-15 Error Codes .................................................................................................. 3-19

3-1 ee.chk.er
Checks the status of the end-effector for extend or release input signals. The gripper waits until the
end-effector reaches the desired state before moving.
Syntax
ee.chk.er(ee.idx, tip.idx, state, sts)
Input Parameters
ee.idx Index of the end-effector
tip.idx Zero-based index of the tip to access
state State of the gripper
Output Parameters
sts Status of operation

3-2 ee.chk.oc
Checks the status of the gripper for an open or close input signal. The robot waits until the gripper
reaches the desired state.
Syntax
3-2 ee.chk.oc
ee.chk.oc(tsk.idx, tip.idx, state, sts)
Input Parameters
Parameter Description 3
tsk.idx Index of the task
Output Parameters

3-3 ee.clroff
Clears all refinement offsets associated with the end-effector.
Syntax
ee.clroff(ee.idx, sts)
Input Parameters
Output Parameters

3-4 ee.gr.settle
Waits for the required settling time for the end-effector.
Syntax
3-4 ee.gr.settle
ee.gr.settle(ee.idx, tip.idx, state, sts)
Input Parameters
3
Output Parameters

3-5 ee.gr.tip.er
Changes the extend or retract state of the gripper tip for the specified robot.
Syntax
ee.gr.tip.er(tsk.idx, tip.idx, state)
Input Parameters
Output Parameters
None

3-6 ee.presence
Check if the part presence sensor is in the desired state. The robot waits until the gripper reaches the
desired state.
Syntax
3-6 ee.presence
ee.presence(tsk.idx, tip.idx, state, sts)
Input Parameters
tsk.idx Index of the end-task
state Desired state of the part presence sensors
Output Parameters

3-7 ee.release
Turns the release signals on the end-effector on or off.
Syntax
ee.release(ee.idx, tip.idx, state, sts)
Input Parameters
tip.idx Zero-based index of the tip to access:
-1 All tips
0...N The tip to operate with
Output Parameters

3-8 ee.select
Performs a tip selection, extending or retracting tips as needed. It also checks to see if a tip selection
programis associated with the current robot end-effector. If one is specified it is executed.
Abstract
3-8 ee.select
ee.select(ee.idx, tip.idx)
Input Parameters
tip.idx Zero-based index of the tip to access:
-1 All tips
0...N The tip to operate with
Output Parameters
None
Example
.PROGRAM a.ex2.gripper(ee.idx)
;
AUTO REAL sts
AUTO LOC tool.trans
; Select the first tip

CALL ee.select(ee.idx, 0)
; Select all tips

CALL ee.select(ee.idx, -1)
; Unselect all tips

CALL ee.unselect(ee.idx)
; Extend tip #1 and #2

CALL ee.state(ee.idx, 0, TRUE, TRUE, sts)
; Set the offset associated with tip #2

CALL ee.setoff(ee.idx, 1, NULL, sts)

; Get the offset associated with tip #2

CALL ee.trans(ee.idx, 1, tool.trans, sts)
.END

3-9 ee.select.ck
Checks for any end-effector selection errors.
Syntax
3-9 ee.select.ck
ee.select.ck(ee.idx, tip.idx, sts)
Input Parameters
3
Output Parameters

3-10 ee.setoff
Associates an offset with a specific end-effector tip.
Syntax
ee.setoff(ee.idx, tip.idx, tool.trans, sts)
Input Parameters
tool.trans Gripper tip transform
Output Parameters
Example
;
AUTO REAL sts
AUTO LOC tool.trans

; Select all tips

; Unselect all tips




.END
3-10 ee.setoff
3

3-11 ee.state
Changes the state of the end-effector tip.
Syntax
ee.state(ee.idx, tip.idx, state, check.inputs, sts)
Input Parameters
check.inputs Check to see if the end-effector is waiting for an input
Output Parameters
Example
;
AUTO REAL sts
AUTO LOC tool.trans

; Select all tips

; Unselect all tips





.END
3-11 ee.state
3

3-12 ee.tip.erdw
Performs the required extend or retract dwell of the end-effector tip.
Syntax
ee.tip.erdw(ee.idx, tip.idx)
Input Parameters
Output Parameters
None

3-13 ee.tip.oc
Changes the open and closed state of the end-effector tip.
Syntax
ee.tip.oc(ee.idx, tip.idx, state, sts)
3-13 ee.tip.oc
Input Parameters
3
Output Parameters

3-14 ee.unselect
Retracts all of the end-effector tips.
Syntax
ee.unselect(ee.idx)
Input Parameters
Output Parameters
None
Example
;
AUTO REAL sts
AUTO LOC tool.trans

; Select all tips

; Unselect all tips




.END

3-15 Error Codes

If a problem is encountered when executing an end-effector library method, the following error codes
can be returned.
• -20003: The end-effector will not close.
• -20004: The end-effector will not open.
3-15 Error Codes

• -20010: Invalid end-effector referenced.
• -20026: The end-effector will not extend.
• -20027: The end-effector will not retract.
• -20030: A part is detected in the end-effector.
• -20031: No part detected in the end-effector.


4
V+ Process Manager Module
The information in this section documents the V+ programs that a user might use in
the process of customizing a Process Manager application.
4
4-1 pm.ace.blt.cam ............................................................................................... 4-3

4-2 pm.ace.blt.ltch ................................................................................................ 4-4
4-3 pm.ace.blt.pos ................................................................................................ 4-5
4-4 pm.ace.blt.sp .................................................................................................. 4-6
4-5 pm.ace.pkstate ............................................................................................... 4-7
4-6 pm.ace.ref ....................................................................................................... 4-8
4-7 pm.ace.ref.wt .................................................................................................. 4-9
4-8 pm.blt.convert .............................................................................................. 4-10
4-9 pm.blt.travel .................................................................................................. 4-11
4-10 pm.chk.run .................................................................................................... 4-12
4-11 pm.chk.stat ................................................................................................... 4-13
4-12 pm.chk.tskerr................................................................................................ 4-15
4-13 pm.def.btn.txt................................................................................................ 4-17
4-14 pm.def.err.txt ................................................................................................ 4-18
4-15 pm.fdr.state ................................................................................................... 4-19
4-16 pm.get.free.tsk.............................................................................................. 4-20
4-17 pm.get.type ................................................................................................... 4-21
4-18 pm.gr.clroff ................................................................................................... 4-22
4-19 pm.gr.release ................................................................................................ 4-23
4-20 pm.gr.select .................................................................................................. 4-24
4-21 pm.gr.select.ck ............................................................................................. 4-26
4-22 pm.gr.setoff................................................................................................... 4-27
4-23 pm.gr.settle ................................................................................................... 4-29
4-24 pm.gr.state .................................................................................................... 4-30
4-25 pm.gr.trans.................................................................................................... 4-32

4-26 pm.gr.unselect .............................................................................................. 4-34

4-27 pm.log............................................................................................................ 4-35
4-28 pm.mv............................................................................................................ 4-36
4-29 pm.mv.attach ................................................................................................ 4-38
4-30 pm.mv.chkbrk ............................................................................................... 4-40
4-31 pm.mv.dest.................................................................................................... 4-41
4-32 pm.mv.idle..................................................................................................... 4-43
4-33 pm.proc.enable............................................................................................. 4-45
4-34 pm.prt.avail ................................................................................................... 4-46
4-35 pm.prt.done................................................................................................... 4-47
4-36 pm.prt.get...................................................................................................... 4-48
4-37 pm.prt.get.idx................................................................................................ 4-50
4-38 pm.prt.getloc................................................................................................. 4-51
4-39 pm.prt.move.ptr ............................................................................................ 4-53
4-40 pm.ps.error ................................................................................................... 4-55
4-41 pm.ps.map.idx .............................................................................................. 4-56
4-42 pm.ps.power ................................................................................................. 4-58
4-43 pm.rob.chkidle.............................................................................................. 4-59
4-44 pm.rob.clear.................................................................................................. 4-60
4-45 pm.rob.gettag ............................................................................................... 4-62
4-46 pm.rob.idlemd............................................................................................... 4-63
4-47 pm.rob.init..................................................................................................... 4-65
4-48 pm.rob.monque ............................................................................................ 4-67
4-49 pm.rob.pick ................................................................................................... 4-68
4-50 pm.rob.place ................................................................................................. 4-70
4-51 pm.rob.process ............................................................................................ 4-72
4-52 pm.rob.refine ................................................................................................ 4-74
4-53 pm.rob.settag ............................................................................................... 4-75
4-54 pm.sig.check ................................................................................................ 4-76
4-55 pm.sig.clear .................................................................................................. 4-77
4-56 pm.src.clear .................................................................................................. 4-78
4-57 pm.src.clearall .............................................................................................. 4-79
4-58 pm.trg.avail ................................................................................................... 4-80
4-59 pm.trg.done................................................................................................... 4-81
4-60 pm.trg.get...................................................................................................... 4-82
4-61 pm.trg.get.idx................................................................................................ 4-84
4-62 pm.trg.getloc................................................................................................. 4-85
4-63 pm.trg.move.ptr ............................................................................................ 4-87

4-1 pm.ace.blt.cam
Indicate to ACE that a camera needs to be triggered.
Syntax
pm.ace.blt.cam(tsk.idx, $camera, remote, encoder)
4-1 pm.ace.blt.cam
Input Parameters
$camera Name of the camera that needs to be triggered
remote Is the camera remote or local?
encoder Encoder reference 4
Output Parameters
None
Typical Use
This program is always used in the context of a belt monitoring program. Create a custom belt pro-
gram to see this in use.

4-2 pm.ace.blt.ltch
Send a command to the PC that a latch has been detected.
Syntax
pm.ace.blt.ltch(blt.idx, enc, latch, value, $tag)
Input Parameters
$camera Name of the camera that needs to be triggered
remote Is the camera remote or local?
encoder Encoder reference
Output Parameters
None
Typical Use
gram to see this in use or refer to the Process Manager documentation under the Belt Monitoring sec-
tion.
Note that if the user passes in a $tag, all instances created relative to that latch event will be assigned
the specified tag.

4-3 pm.ace.blt.pos
Send the current belt position to the PC.
Syntax
pm.ace.blt.pos(blt.idx, encoder, encoder.value, encoder.vel)
4-3 pm.ace.blt.pos
Input Parameters
tsk.idx Index of the task that owns the belt being updated
encoder Index of the encoder being updated
encoder.value The encoder position
encoder.vel The encoder velocity 4
Output Parameters
None
Typical Use

4-4 pm.ace.blt.sp
Indicate to ACE that a part/target belt spacing event has occurred.
Syntax
pm.ace.blt.sp(blt.idx, $spacing, value, $tag)
Input Parameters
blt.idx Index of the task that owns the belt being updated
$spacing Name of the part/target to which the spacing is relative
value Encoder value defining the location
$tag Tag to associate with instances created
Output Parameters
None
Typical Use
gram to see this in use or refer to the Process Manager documentation under the Belt Monitoring sec-
tion.
Note that if the user passes in a $tag, all instances created relative to that spacing event will be as-
signed the specified tag.
.

4-5 pm.ace.pkstate
Change the run state of a process manager. This program is called by the startup program to start/
stop a process manager application.
Syntax
pm.ace.pkstate($manager, state, time.out, sts)
4-5 pm.ace.pkstate
Input Parameters
$manager Process manager name
state The desired state where True = Start False = Stop
time.out Time (in s) which rm.execute is allowed to run 4
Output Parameters
sts Status of the operation

4-6 pm.ace.ref
Sends a refinement request to the PC.
Syntax
pm.ace.ref(tsk.idx, $ref.name, sts)
Input Parameters
tsk.idx Index of the task requiring refinement
$ref.name Name of the refinement operation
Output Parameters
Typical Use
This program is always used in the context of a refinement program. Create a custom refinement pro-
gram to see an example.

4-7 pm.ace.ref.wt
Wait for the refinement operation to complete.
Syntax
pm.ace.ref.wt(tsk.idx, time.out, loc, sts)
4-7 pm.ace.ref.wt
Input Parameters
time.out Maximum amount of time to wait for the operation
4
Output Parameters
Typical Use
This program is always used in the context of a refinement program. Create a custom refinement pro-
gram to see an example.

4-8 pm.blt.convert
Convert a real world reference location to an encoder value in range between min/max.
Syntax
pm.blt.convert(encoder)
Input Parameters
encoder The encoder reference to convert
Output Parameters
encoder The converted position

4-9 pm.blt.travel
Determine the distance the belt has traveled between 2 encoder values.
Syntax
pm.blt.travel(point.1, point.2, distance)
4-9 pm.blt.travel
Input Parameters
point.1 The first encoder position
point.2 The second encoder position
4
Output Parameters
distance The distance between the 2 positions
Typical Use
.

4-10 pm.chk.run
Check to see if a process application is running.
Syntax
pm.chk.run(run)
Input Parameters
None
Output Parameters
run Checks to see if a process manager application is run-
ning
True - ACE and a process manager application are
running
False - ACE and/or the process manager application
are not running.

4-11 pm.chk.stat
Determine if both the process manager application is running and the ACE server is running. Process
manager tasks uses this method to check if they should continue running.
Syntax
pm.chk.stat(run)
4-11 pm.chk.stat
Input Parameters
None
Output Parameters 4
run True - ACE and a process manager application are
running
False - ACE and/or the process manager application
are not running
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

; 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

4-12 pm.chk.tskerr
Check for error conditions and display an error if one exists on the specified task.
Syntax
pm.chk.tskerr(tsk.idx, resp.mask, code, resp)
4-12 pm.chk.tskerr
Input Parameters
resp.mask Possible responses to the error
4
Output Parameters
code Detected error code, or 0 if no error detected
resp Response to the error
Example
.PROGRAM cu.robot()
; Process Strategy.

tsk.idx = TASK()


; Control loop
DO
; Perform a pick

; Perform a place



WAIT.EVENT , 3

END



RETURN
.END

4-13 pm.def.btn.txt
Define the text associated with a response button for the next error reported on a given task. This
method must be called before calling pm.error.
Syntax
pm.def.btn.txt(tsk.idx, button, $text)
4-13 pm.def.btn.txt
Input Parameters
button Response code associated with the button
$text Text associated with the button. "" will clear the text. 4
Output Parameters
None

4-14 pm.def.err.txt
Define a custom text message associated with an error for the next error reported on the specified
task index. This method must be called before calling pm.error.
Syntax
pm.def.err.txt(tsk.idx, $text)
Input Parameters
$text Text associated with the error. "" will clear the text.
Output Parameters
None

4-15 pm.fdr.state
Updates the state of a feeder on the PC.
Syntax
pm.fdr.state($name, state)
4-15 pm.fdr.state
Input Parameters
$name Name of the feeder part or target
state State of the feeder:
pm.fst.avail Is available
pm.fst.busy Is not available 4
pm.fst.cycle Is cycling
pm.fst.hshk Waiting for handshake
Output Parameters
None

4-16 pm.get.free.tsk
Selects an available task that can be used. Tasks from first.tsk to last.tsk are scanned and the first
available one is returned
Syntax
pm.get.free.tsk(first.tsk, last.tsk, tsk.num)
Input Parameters
first.task The task number at which to start scanning
last.task The task number at which we want to stop scanning
Output Parameters
task.num The task number. If value is -1, no available task was
found.

4-17 pm.get.type
Gets the friendly name for a given part / target type name
Syntax
pm.get.type(rob.idx, $type, $f.name)
4-17 pm.get.type
Input Parameters
rob.idx Index of the robot task
$type The name of the type
4
Output Parameters
$f.name The friendly name of the type

4-18 pm.gr.clroff
Clears all refinement offsets associated with the gripper.
Syntax
pm.gr.clroff(tsk.idx, sts)
Input Parameters
Output Parameters

4-19 pm.gr.release
Turn on/off the gripper release signals.
Syntax
pm.gr.release(tsk.idx, tip.idx, state, sts)
4-19 pm.gr.release
Input Parameters
-1 = All tips
0...N = The tip to operate with 4
Output Parameters
sts Status of the task

4-20 pm.gr.select
Perform a tip selection, extending or retracting tips as needed. It also checks if a tip selection program
is associated with the current robot gripper. If one is specified it will be executed.
Syntax
pm.gr.select(tsk.idx, tip.idx)
Input Parameters
-1 = All tips
0...N = The tip to operate with
Output Parameters
None
Example
;
AUTO REAL sts
AUTO LOC tool.trans

; Select all tips

; Unselect all tips




.END
4-20 pm.gr.select
4

4-21 pm.gr.select.ck
Check for any gripper selection errors.
Syntax
pm.gr.select.ck(tsk.idx, tip.idx, resp)
Input Parameters
Output Parameters
resp User response to an error

4-22 pm.gr.setoff
Associates an offset with a specific gripper tip.
Syntax
pm.gr.setoff(tsk.idx, tip.idx, tool.trans, sts)
4-22 pm.gr.setoff
Input Parameters
tool.trans Gripper tip transform
4
Output Parameters
Example
;
AUTO REAL sts
AUTO LOC tool.trans

; Select all tips

; Unselect all tips




.END

4-23 pm.gr.settle
Wait for the required settling time for the gripper.
Syntax
pm.gr.settle(tsk.idx, tip.idx, state, sts)
4-23 pm.gr.settle
Input Parameters
state Desired state of the gripper
4
Output Parameters

4-24 pm.gr.state
Change the state of the gripper tip for the specified robot.
Syntax
pm.gr.state(tsk.idx, tip.idx, state, check.inputs, sts)
Input Parameters
state Desired state of the gripper
check.inputs Do we wait for inputs?
Output Parameters
Example
;
AUTO REAL sts
AUTO LOC tool.trans

; Select all tips

; Unselect all tips





.END
4-24 pm.gr.state
4

4-25 pm.gr.trans
Associates an offset with a specific gripper tip.
Syntax
pm.gr.trans(tsk.idx, tip.idx, tool.trans, sts)
Input Parameters
Output Parameters
tool.trans The gripper tip transformation
Example
;
AUTO REAL sts
AUTO LOC tool.trans

; Select all tips

; Unselect all tips




.END
4-25 pm.gr.trans
4

4-26 pm.gr.unselect
Retract all the tips.
Syntax
pm.gr.unselect(tsk.idx)
Input Parameters
Output Parameters
None
Example
;
AUTO REAL sts
AUTO LOC tool.trans

; Select all tips

; Unselect all tips




.END

4-27 pm.log
Send text associated with the current task to the AceServer log file.
Syntax
pm.log($text)
Input Parameters
4-27 pm.log
$text The text to append to the AceServer log on the PC
Output Parameters 4
None
Additional Notes
The pm.log method should only be called on a process manager task. The program will check to see
if logging is enabled before sending the log string to the PC. The variable pm.log will enable logging
on all V+ process manager tasks. If you want to enable logging for an individual V+ task, the variable
pm.tsk.log [TASK()] can be set to TRUE.

4-28 pm.mv
Perform a move to the location using the specified motion parameters.
Syntax
pm.mv(blt.idx, position, offset, pars[])
Input Parameters
blt.idx Belt number to move relative to.
• 0 = Non-belt relative move
• > 0 = Belt relative move
position Position to move to
offset Starting index in the motion parameters array
pars[] Motion parameters array
Output Parameters
None
Additional Notes
The pars[] parameter uses the following offset values when applying the motion parameters:
Variable Usage
pm.fv.spd The speed percentage
pm.fmv.spdmd The Speed Mode
pm.fmv.accel The accelaration percentage
pm.fmv.decel The deceleration percentage
pm.fmv.dur The move duration
pm.fmv.scv The S-curve profile
pm.fmv.straigh Is straight line motion requested?
pm.fmv.motend Motioin end parameter
pm.fmv.stlpct The settle percentage
pm.fmv.break Should it wait until motion is done?
pm.fmv.single Single/multiple mode
pm.fmv.righty Right/Lefty mode
pm.fmv.above Above/below mode
pm.fmv.flip Flip/No-flip
For a standard motion sequence, the following values are used for the offset parameter.
Variable Usage
pm.ms.aoffset Approach motion segment
pm.ms.poffset Move motion segment

pm.ms.doffset Depart motion segment
For a standard vision refinement sequence, the following values are used for the offset parameter.
Variable Usage
pm.vrf.aoffset Approch motion segment
pm.vrf.poffset Move motion segment
pm.vrf.doffset Depart motion segment
4-28 pm.mv
4

4-29 pm.mv.attach
Attach the robot to the current task.
Syntax
pm.mv.attach(tsk.idx, rob.num)
Output Parameters
None
Input Parameters
rob.num Robot number to attach
Additional Notes
For a robot task, the global variable pm.tsk.robnum[] saves the robot number associated with the
task.
Example
.PROGRAM cu.robot()
; Process Strategy.

tsk.idx = TASK()


; Control loop
DO

; Perform a pick
; Perform a place

4-29 pm.mv.attach

WAIT.EVENT , 3
4
END



RETURN
.END

4-30 pm.mv.chkbrk
Check for a break in motion using the specified motion parameters.
Syntax
pm.mv.chkbrk(offset, pars[])
Input Parameters
offset Starting index in the motion parameters array
pars[] Motion parameters array
Output Parameters
None

4-31 pm.mv.dest
Move to the current destination. Used to stop robot from tracking a part.
Syntax
pm.mv.dest(rob.idx)
4-31 pm.mv.dest
Input Parameters
rob.idx Index of the robot
Output Parameters 4
None
Example
.PROGRAM cu.robot()
; Process Strategy.

tsk.idx = TASK()


; Control loop
DO
; Perform a pick
; Perform a place




WAIT.EVENT , 3

END



RETURN
.END

4-32 pm.mv.idle
Move a robot to the idle location. The robot first retracts the Z axis (maintaining the current XY posi-
tion) to the level of the idle position. Once retracted it moves to idle.
Syntax
pm.mv.idle(rob.idx)
4-32 pm.mv.idle
Input Parameters
4
Output Parameters
None
Example
.PROGRAM cu.robot()
; Process Strategy.

tsk.idx = TASK()


; Control loop
DO
; Perform a pick
; Perform a place




WAIT.EVENT , 3

END



RETURN
.END

4-33 pm.proc.enable
Enable or disable a process based on the process index.
Syntax
pm.proc.enable($manager, proc.idx, state, sts)
4-33 pm.proc.enable
Input Parameters
$manager Name of the process manager
proc.idx Index of the process
state State of the process
• TRUE = Enable the process 4
• FALSE = Disable the process
Output Parameters
sts Status of the operation:
• 0 = successs
• <0 = error

4-34 pm.prt.avail
Gets the number of available parts for the robot.
Syntax
pm.prt.avail(rob.idx, part.idx, count)
Input Parameters
part.idx Part index to access
Output Parameters
count Number of items available in the queue
Example
.PROGRAM a.ex2.qlookup()
AUTO REAL rob.idx, part.idx, target.idx, count

AUTO $part, $target
; Identify the first robot task

rob.idx = 3
; Look up the queue number for a part in the workspace

$part = "/Process/Part - Spacing 2"
CALL pm.prt.get.idx(rob.idx, $part, part.idx)
Get the number of parts available

CALL pm.prt.avail(rob.idx, part.idx, count)
; Look up the queue number for a target in the workspace

$target = "/Process/Target 2 - Static"
CALL pm.trg.get.idx(rob.idx, $target, target.idx)
; Get the number of targets available

CALL pm.trg.avail(rob.idx, target.idx, count)
.END

4-35 pm.prt.done
Indicate a part has been processed.
Syntax
pm.prt.done(rob.idx, part.idx, obj.idx, sts)
4-35 pm.prt.done
Input Parameters
obj.idx Index of the instance/object to mark as done
sts Was the part processed by the robot: 4
• TRUE = part was processed
• FALSE = part was not processed
Output Parameters
None

4-36 pm.prt.get
Gets a part from the buffer.
Syntax
pm.prt.get(rob.idx, part.idx, obj.idx, $id, position, reference, pal.idx)
Input Parameters
obj.idx Index of the object/instance to extract
Output Parameters
$id Unique identifier of the part
position Position of the part
reference Reference position of the part
pal.idx Pallet index associated with the instance
Example
.PROGRAM a.ex2.queues()
;
AUTO REAL i, rob.idx, inst.idx
AUTO REAL reference, pal.idx, sts, time, pct
AUTO LOC position
AUTO.$id, $source
; identify the first robot task

rob.idx = 3
; Go through all part queues

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
4-36 pm.prt.get
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] 4
; 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)
TYPE " ID = ", $id

TYPE " "
CALL pm.trg.move.ptr(inst.idx)
END
END
.END

4-37 pm.prt.get.idx
Get the index of the part buffer for a given robot task.
Syntax
pm.prt.get.idx(rob.idx, $part, part.idx)
Input Parameters
$part Part name to search for
Output Parameters
part.idx Part index in the robot part buffer. -1 = No matching
part was found
Example

AUTO $part, $target

rob.idx = 3




.END

4-38 pm.prt.getloc
Get the location of a given part in the belt window.
Syntax
pm.prt.getloc(rob.idx, part.idx, obj.idx, pct)
4-38 pm.prt.getloc
Input Parameters
obj.idx Index of the object/instance to access
4
Output Parameters
pct Percentage of travel along the belt
Example
;
AUTO LOC position
AUTO.$id, $source

rob.idx = 3


TYPE " ID = ", $id



TYPE " "
END
END

TYPE "Target Queue Name: ", $pm.trg.type[rob.idx,i]


TYPE " ID = ", $id

TYPE " "
END
END
.END

4-39 pm.prt.move.ptr
Increment the pointer to the next slot in the buffer.
Syntax
pm.prt.move.ptr(ptr)
4-39 pm.prt.move.ptr
Input Parameters
ptr The pointer to increment
Output Parameters 4
ptr The incremented pointer
Example
;
AUTO LOC position
AUTO.$id, $source

rob.idx = 3


TYPE " ID = ", $id



TYPE " "
END
END



TYPE " ID = ", $id

TYPE " "
END
END
.END

4-40 pm.ps.error
Report an error and wait for a response.
Syntax
pm.ps.error(tsk.idx, code, resp.mask, resp)
4-40 pm.ps.error
Input Parameters
code Error code/status of the operation
resp.mask Mask of available response options
4
Output Parameters
resp The user response to the error

4-41 pm.ps.map.idx
Converts a process index from the PC to a robot-relative index.
Syntax
pm.ps.map.idx(proc.idx, map.idx)
Input Parameters
proc.idx Process index from the PC
Output Parameters
map.idx Robot relative index for the process
Example
.PROGRAM cu.robot2()
; Process Strategy.
AUTO REAL task.idx, i, sts

AUTO REAL proc.idx.1, proc.idx.2
tsk.idx = TASK()

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)
; Control loop
DO
; Execute the first process 3 time

FOR i = 1 TO 3
CALL pm.rob.process(tsk.idx, proc.idx.1, sts)
END

; Execute the second process

; Check process status

RETURN
4-41 pm.ps.map.idx
.END

4-42 pm.ps.power
Change the power status of the system. If power is enabled, issue a calibration request, if needed. If
power cannot be enabled, it will report an error. Because of this, this method is not intended to be
used from within a custom error program. It may lead to a recursive call and a stack overflow.
Syntax
pm.ps.power(tsk.idx, enable)
Input Parameters
tsk.idx The task index for error reporting
enable Enable the power.
Output Parameters
None

4-43 pm.rob.chkidle
Check the status when the robot is idle, including checking for the robot cycle stop condition.
Syntax
pm.rob.chkidle(rob.idx, part.type, grip.idx, excl[], is.reset, sts)
4-43 pm.rob.chkidle
Input Parameters
tsk.idx Index of the robot task
start.time The reference time when the robot entered idle mode
in.idle Is the robot in idle mode
at.wait Is the robot at the waiting position 4
Output Parameters
in.idle Is the robot in idle mode
at.wait Is the robot at the waiting position

4-44 pm.rob.clear
Move the robot to the idle position and clear the robot gripper.
Syntax
pm.rob.clear(rob.idx)
Input Parameters
Output Parameters
None
Example
.PROGRAM cu.robot()
; Process Strategy.

tsk.idx = TASK()


; Control loop
DO
; Perform a pick
; Perform a place




WAIT.EVENT , 3
4-44 pm.rob.clear
END
4


RETURN
.END

4-45 pm.rob.gettag
Returns the tag associated with the part or target instance currently being operated on by the robot.
Typically, this would be called from within a custom motion sequence program to access information
that was associated with a VisionTransform Tag associated with a custom vision tool or the Tag asso-
ciated with a LocatedInstance set by a custom allocation script.
Syntax
pm.rob.gettag(rob.idx, $tag)
Input Parameters
tsk.idx Index of the robot
Output Parameters
$tag Tag associated with the instance being processed
Example
.PROGRAM cu.mv.sequence(tsk.idx, $type, blt.idx, reference, pal.idx, grip.idx, grip
.state, pos, vals[], sts)
AUTO REAL at.wait, belt.win.idx, code, distance, offset

AUTO REAL resp, rob.num
AUTO $cust.program, $tag
AUTO LOC appro.pos, depart.pos, grip.trans, position
sts = pm.tsk.success
CALL pm.rob.gettag(tsk.idx, $tag)

TYPE "Tag = "+$tag
; Calculate the position, factoring in the gripper transformations
; Initiate the gripper selection

CALL pm.gr.select(tsk.idx, grip.idx)
; Get the gripper transformation

CALL pm.gr.trans(tsk.idx, grip.idx, grip.trans, sts)

4-46 pm.rob.idlemd
Change the idle status of the robot. This program sets the status in global memory. It expects the proc-
ess strategy background program to perform the sending of the status to the PC.
Syntax
pm.rob.idlemd(rob.tsk, in.idle, code, $info)
4-46 pm.rob.idlemd
Input Parameters
rob.tsk Index of the robot
in.idle Is the robot in idle mode?
• True = Robot is idle 4
• False = Robot is running
code Error code associated with the idle mode state. If non-
zero, an error will be reported
$info Additional information to send with the error code. This
is used by 'pm.err.no.inst' to send the name of the part
or target the robot is waiting for.
Output Parameters
None
Example
.PROGRAM cu.robot()
; Process Strategy.

tsk.idx = TASK()



; Control loop
DO
; Perform a pick
; Perform a place



WAIT.EVENT , 3

END



RETURN
.END

4-47 pm.rob.init
Initialize the robot by attaching the robot, clearing the TOOL, moving to the idle position, and turning
off all gripper signals.
Syntax
pm.rob.init(rob.idx)
4-47 pm.rob.init
Input Parameters
4
Output Parameters
None
Example
.PROGRAM cu.robot()
; Process Strategy.

tsk.idx = TASK()


; Control loop
DO
; Perform a pick
; Perform a place




WAIT.EVENT , 3

END



RETURN
.END

4-48 pm.rob.monque
Process the active part and targets queues and mark any out-of-range instances as done. This meth-
od should only be called on a robot task when the robot is waiting for some operation to complete.
This ensures any instances that go out of range of the robot are properly released and sent back to
the PC.
If the robot is currently processing a part or target, the index of the associated queue should be
passed as a parameter to the method.
4-48 pm.rob.monque
Syntax
pm.rob.monque(rob.tsk, part.idx, trg.idx)
Input Parameters 4
part.idx Index of a part queue to not check. -1 indicates all
queues will be checked
trg.idx Index of a target queue to not check. -1 indicates all
queues will be checked
Output Parameters
None
Example
.CALL pm.rob.monque(robtsk, -1 -1)

4-49 pm.rob.pick
Perform a single pick operation with the robot in the current task.
Syntax
pm.rob.pick(rob.idx, part.type, grip.idx, excl[], is.reset, sts)
Input Parameters
part.idx Type of part to pick
grip.idx The index of the gripper tip to use -1 = All tips
ms.type The move segment type:
• pm.ms.mv.norm - Normal Move
• pm.ms.mv.iad - Pick / place motion with intra ap-
proach and intra depart
• pm.ms.mv.iand - Pick / place with intra approach
and normal depart
• pm.ms.mv.naid - Pick / place with normal approach
and intra depart
excl[] The exclusions used when picking
Output Parameters
is.reset Was the queue reset during the operation
sts Status code:
• pm.tsk.success = Successful operation
• pm.tsk.abort = Abort the operation
Example
.PROGRAM cu.robot()
; Process Strategy.

tsk.idx = TASK()



; Control loop
DO
; Perform a pick
4-49 pm.rob.pick
; Perform a place

CALL pm.rob.idlemd(tsk.idx, TRUE, 0, "") 4


WAIT.EVENT , 3

END



RETURN
.END

4-50 pm.rob.place
Perform a single place operation with the robot in the current task.
Syntax
pm.rob.place(rob.idx, target.type, part.type, grip.idx, ms.type, excl[], is.reset, sts)
Input Parameters
target.type Type of target to place
part.type The type of part being placed
grip.idx The index of the gripper tip to use -1 = All tips
ms.type The move segment type:
• pm.ms.mv.norm - Normal Move
• pm.ms.mv.iad - Pick / place motion with intra ap-
proach and intra depart
• pm.ms.mv.iand - Pick / place with intra approach
and normal depart
• pm.ms.mv.naid - Pick / place with normal approach
and intra depart
Output Parameters
is.reset Was the queue reset during the operation
sts Status code:
Example
.PROGRAM cu.robot()
; Process Strategy.

tsk.idx = TASK()


; Control loop
DO
4-50 pm.rob.place
; Perform a pick
; Perform a place
; Indicate we are entering idle mode 4



WAIT.EVENT , 3

END



RETURN
.END

4-51 pm.rob.process
Converts a process index from the PC to a robot-relative index.
Syntax
pm.rob.process(rob.idx, proc.idx, sts)
Input Parameters
rob.idx Index of the robot to drive
proc.idx Process to operate with
Output Parameters
sts Status code:
• pm.tsk.skip = Skip the operation
Example
.PROGRAM cu.robot2()
; Process Strategy.
AUTO REAL task.idx, i, sts

AUTO REAL proc.idx.1, proc.idx.2
tsk.idx = TASK()

CALL pm.rob.idlemd(tsk.idx, TRUE)
; Get the index associated with the first two processes in the process manager
; Control loop
DO
; Execute the first process 3 time

FOR i = 1 TO 3
END
; Execute the second process

; Check process status

4-51 pm.rob.process
RETURN
.END

4-52 pm.rob.refine
Refine the part in the robot gripper using vision.
Syntax
pm.rob.refine(rob.idx, refine.idx, grip.idx, sts)
Input Parameters
refine.idx Index of the refinement station
grip.idx The index of the gripper tip to use. -1 = All tips
Output Parameters
sts Status code:
• pm.tsk.retry = Retry the operation

4-53 pm.rob.settag
Sets the tag associated with the part or target instance currently being operated on by the robot. Typi-
cally, this would be called from within a custom motion sequence program to set a string for the Tag
associated with a LocatedInstance set by a custom allocation script.
Syntax
4-53 pm.rob.settag
pm.rob.settag(tsk.idx, $tag)
Input Parameters
tsk.idx Index of the robot
$tag Tag associated with the instance 4
Output Parameters
None
Example
.PROGRAM cu.mv.sequence(tsk.idx, $type, blt.idx, reference, pal.idx, grip.idx, grip
.state, pos, vals[], sts)
AUTO REAL at.wait, belt.win.idx, code, distance, offset

AUTO REAL resp, rob.num
AUTO $cust.program, $tag
AUTO LOC appro.pos, depart.pos, grip.trans, position
sts = pm.tsk.success
CALL pm.rob.gettag(tsk.idx, $tag)

TYPE "Tag = "+$tag
; Calculate the position, factoring in the gripper transformations
; Initiate the gripper selection

CALL pm.gr.select(tsk.idx, grip.idx)
; Get the gripper transformation

CALL pm.gr.trans(tsk.idx, grip.idx, grip.trans, sts)

4-54 pm.sig.check
Checks for the status of a digital signal ensuring the state is valid for the specified amount of time.
This method does not block execution.
Syntax
pm.sig.check(sig, time, is.valid)
Input Parameters
sig Signal to be checked
time Amount of time the signal is expected to be in the
state
Output Parameters
is.valid Is the signal in the specified state
Example
.PROGRAM a.ex2.debounce()
AUTO REAL sig, is.on, debounce.time
; Define the signal and the amount of time we want the signal
; to remain on before we recognize it is on
sig = 2100
debounce.time = 2.5
is.on = FALSE
; Clear the tracking structures for the signal
CALL pm.sig.clear(sig)
; Trun the signal on
SIGNAL sig
TYPE $TIME()
; Wait until the signal has been on for the required amount of time
WHILE (is.on == FALSE) DO
CALL pm.sig.check(sig, debounce.time, is.on)
END
TYPE $TIME()
SIGNAL -sig
.END

4-55 pm.sig.clear
Clears the variables used to track the status of a signal.
Syntax
pm.sig.clear(sig)
4-55 pm.sig.clear
Input Parameters
sig Signal to clear
Output Parameters 4
None
Example
.PROGRAM a.ex2.debounce()
AUTO REAL sig, is.on, debounce.time
; Define the signal and the amount of time we want the signal
; to remain on before we recognize it is on
sig = 2100
debounce.time = 2.5
is.on = FALSE
; Clear the tracking structures for the signal
CALL pm.sig.clear(sig)
; Trun the signal on
SIGNAL sig
TYPE $TIME()
; Wait until the signal has been on for the required amount of time
WHILE (is.on == FALSE) DO
CALL pm.sig.check(sig, debounce.time, is.on)
END
TYPE $TIME()
SIGNAL -sig
.END

4-56 pm.src.clear
Clear the specified source
Syntax
pm.src.clear($manager, $source, sts)
Input Parameters
$manager Name of the process manager
$source The name of the source to clear
Output Parameters
Example
.PROGRAM a.ex2.srcclr()
AUTO $manager
AUTO REAL sts
$manager = "/Process/Process Manager"

$source = "Belt Handler: /Process/Belt"
; Clear the source with the specified name

CALL pm.src.clear($manager, $source, sts)
; Clear all source

CALL pm.src.clearall($manager, sts)
.END

4-57 pm.src.clearall
Clears all sources for the specified process manager
Syntax
pm.src.clearall($manager, sts)
4-57 pm.src.clearall
Input Parameters
$source The name of the source to clear
Output Parameters 4
Example
.PROGRAM a.ex2.srcclr()
AUTO $manager
AUTO REAL sts
$manager = "/Process/Process Manager"

$source = "Belt Handler: /Process/Belt"
; Clear the source with the specified name

CALL pm.src.clear($manager, $source, sts)
; Clear all source

CALL pm.src.clearall($manager, sts)
.END

4-58 pm.trg.avail
Gets the number of available targets for the robot.
Syntax
pm.trg.avail(rob.idx, trg.idx, count)
Input Parameters
trg.idx Target index to access
Output Parameters
count Number of items available in the queue
Example

AUTO $part, $target

rob.idx = 3




.END

4-59 pm.trg.done
Indicate a target has been processed.
Syntax
pm.trg.done(rob.idx, trg.idx, obj.idx, sts)
4-59 pm.trg.done
Input Parameters
obj.idx Index of the instance/object to mark as done
sts Was the instance processed by the robot: 4
• TRUE = part was processed
• FALSE = part was not processed
Output Parameters
None

4-60 pm.trg.get
Gets a target from the buffer.
Syntax
pm.trg.get(rob.idx, trg.idx, obj.idx, $id, position, reference, pal.idx)
Input Parameters
obj.idx Index of the object/instance to extract
Output Parameters
$id Unique identifier of the instance
position Position of the instance
reference Reference position of the instance
pal.idx Pallet index associated with the instance
Example
;
AUTO LOC position
AUTO.$id, $source

rob.idx = 3


TYPE " ID = ", $id

TYPE " "
END
4-60 pm.trg.get
END

TYPE "Target Queue Name: ", $pm.trg.type[rob.idx,i] 4


TYPE " ID = ", $id

TYPE " "
END
END
.END

4-61 pm.trg.get.idx
Get the index of the target buffer for a given robot task.
Syntax
pm.trg.get.idx(rob.idx, $target, target.idx)
Input Parameters
$target Target name to search for
Output Parameters
target.idx Target index in the robot target buffer. -1 = No match-
ing target was found
Example

AUTO $part, $target

rob.idx = 3




.END

4-62 pm.trg.getloc
Get the location of a given target in the belt window.
Syntax
pm.trg.getloc(rob.idx, trg.idx, obj.idx, pct)
4-62 pm.trg.getloc
Input Parameters
obj.idx Index of the object/instance to access
4
Output Parameters
pct Percentage of travel along the belt
Example
;
AUTO LOC position
AUTO.$id, $source

rob.idx = 3


TYPE " ID = ", $id



TYPE " "
END
END



TYPE " ID = ", $id

TYPE " "
END
END
.END

4-63 pm.trg.move.ptr
Increment the pointer to the next slot in the buffer.
Syntax
pm.trg.move.ptr(ptr)
4-63 pm.trg.move.ptr
Input Parameters
ptr The pointer to increment
Output Parameters 4
ptr The incremented pointer
Example
;
AUTO LOC position
AUTO.$id, $source

rob.idx = 3


TYPE " ID = ", $id



TYPE " "
END
END



TYPE " ID = ", $id

TYPE " "
END
END
.END

5
V+ Remote Library Module
The information in this section documents the V+ programs that can be used to ac-
cess functionality on the PC. These programs are a subset of the AceServer module.
5-1 Error Codes .................................................................................................... 5-3 5

5-2 rm.app.event ................................................................................................... 5-4
5-3 rm.chk.server.................................................................................................. 5-5
5-4 rm.execute ...................................................................................................... 5-6
5-5 rm.execute3 .................................................................................................... 5-8
5-6 rm.find_ip ...................................................................................................... 5-10
5-7 rm.pc.fapp ..................................................................................................... 5-11
5-8 rm.pc.fapps ................................................................................................... 5-13
5-9 rm.pc.fapps2 ................................................................................................. 5-15
5-10 rm.pc.fcopy ................................................................................................... 5-17
5-11 rm.pc.fdel ...................................................................................................... 5-19
5-12 rm.pc.fdir....................................................................................................... 5-21
5-13 rm.pc.log ....................................................................................................... 5-23
5-14 rm.read.anums ............................................................................................. 5-24
5-15 rm.read.num ................................................................................................. 5-26
5-16 rm.read.nums ............................................................................................... 5-28
5-17 rm.read.str .................................................................................................... 5-30
5-18 rm.read.strs .................................................................................................. 5-32
5-19 rm.read.trns .................................................................................................. 5-33
5-20 rm.read.trnss ................................................................................................ 5-35
5-21 rm.save.......................................................................................................... 5-36
5-22 rm.write.anums............................................................................................. 5-37
5-23 rm.write.num................................................................................................. 5-39
5-24 rm.write.nums............................................................................................... 5-41
5-25 rm.write.str.................................................................................................... 5-43

5-26 rm.write.strs.................................................................................................. 5-45

5-27 rm.write.trns ................................................................................................. 5-46
5-28 rm.write.trnss ............................................................................................... 5-48

5-1 Error Codes

If a problem is encountered when executing a remote library method, the following error codes can be
returned.
• -1000: Unable to find the AceObject referenced in the remote command.
• -1001: A general error has occurred while processing the remote command. See the AceServer
event log for specific details.
• -1002: The method referenced in a remote library execute command could not be found.
• -1003: A general error has occurred while processing a remote execute invocation or property ac-
cess. See the AceServer event log for specific details.
• 10000: Server has stopped executing and the connection to the remote PC has been lost.
• 10001: The request has timed out.
• 10002: The referenced object does not exist.
5-1 Error Codes

• 10003: The field referenced in the remote object does not exist.
• 10004" The type of the referenced field is not compatible with the requested operation.

5-2 rm.app.event
Generates an application event on the PC associated with this controller.
Syntax
rm.app.event(value, wait.time, status)
Input Parameters
value Numeric code representing the event.
wait.time The amount of time to wait for the operation to com-
plete.
Output Parameters
status Status of the operation: 0 = success, < 0 = error
Example
.PROGRAM ex1.rm.appevt()
AUTO REAL status
CALL rm.app.event(101, 1, status)
IF (status < 0) THEN
TYPE "Unable To Send Event Code: ", status
PAUSE
END
.END

5-3 rm.chk.server
Check to see if the ACE server is running
Syntax
rm.chk.server(is.alive)
Input Parameters
None
5-3 rm.chk.server
Output Parameters
is.alive Is the server alive
5
Example
.PROGRAM ex1.rm.ex()
AUTO REAL is.alive

AUTO REAL args[0], status
AUTO $object, $method
; Check to see if communications with the PC is active

CALL rm.chk.server(is.alive)
IF (is.alive == FALSE) THEN
TYPE "Not Communicating"
PAUSE
END
; Execute a script on the server and wait for 3 seconds for it to complete
$object = "/C# Program"
$method = "Execute"
CALL rm.execute($object, $method, 0, $args[], 3, status)
TYPE "Problem executing script: ", status
PAUSE
END
.END

5-4 rm.execute
Execute a method on the PC and optionally wait until it has completed. The number of arguments
must match the arguments defined by the method signature of the specified method. Additionally, the
arguments must be convertable to the type expected in the method signature using a standard Type-
Converter on the PC.
Syntax
rm.execute($object, $method, num.args, $args[], wait.time, status)
Input Parameters
$object The name of the remote object to access. This must
include the full path name of the object to access. e.g.
"/directory/Robot 1"
$method The name of the method to execute
num.args The number of arguments to send
$args[] The arguments to pass
wait.time The amount of time to wait for the execution to com-
plete. Units are in seconds. A value less than or equal
to 0 indicates no waiting.
Output Parameters
Example
AUTO REAL is.alive


PAUSE
END


$method = "Execute"
PAUSE
END
.END
5-4 rm.execute
5

5-5 rm.execute3
Execute a method on the PC and optionally wait until it has completed. The number of arguments
must match the arguments defined by the method signature of the specified method. Additionally, the
arguments must be convertable to the type expected in the method signature using a standard Type-
Converter on the PC.
Syntax
rm.execute3($ip, $object, $method, num.args, $args[], wait.time, status)
Input Parameters
$ip The IP address of the PC to send the request to
$method The name of the method to execute
num.args The number of arguments to send
$args[] The arguments to pass
wait.time The amount of time to wait for the execution to com-
plete. Units are in seconds. A value less than or equal
to 0 indicates no waiting.
Output Parameters
Example
AUTO REAL is.alive


PAUSE
END

$method = "Execute"
PAUSE
END
.END
5-5 rm.execute3
5

5-6 rm.find_ip
Finds the client_handle associated with a specific IP address
Syntax
rm.find_ip($ip, client_handle)
Input Parameters
$ip The IP address to find
Output Parameters
client_handle The client handle associated with the IP address or -1
if not found

5-7 rm.pc.fapp
Append a single line to a file on the PC
Syntax
rm.pc.fapp($file, $line, wait.time, status)
Input Parameters
$file The name of the file to append to on the PC
5-7 rm.pc.fapp
$line The line to append to the file
plete
Output Parameters 5
Example
.PROGRAM ex1.rm.pc()
AUTO REAL i, num.items, status

AUTO $file, $to.file, $lines[3]
AUTO $file.spec
LOCAL REAL types[]
LOCAL $items[]
$file = "C:\log.txt"
; Write 3 lines in a file on the PC

FOR i = 1 TO 3
CALL rm.pc.fapp($file, $TIME(), 1, status)
TYPE "Failure to append line on file: ", status
END
END
; Append multiple lines in 1 call to the same file

$lines[0] = "Line 1"


CALL rm.pc.fapps($file, 4, $lines[], 1, status)
END
; Append multiple lines in 1 call specifying the start index

CALL rm.pc.fapps2($file, 0, 4, $lines[], 1, status)
END
; Copy the file from the PC to the controller

$to.file = "DISK>D:\log.txt"
CALL rm.pc.fcopy($file, $to.file, 3, status)
TYPE "Unable to copy the file to the controller: ", status
END
; List all files on the PC

$file.spec = "C:\*.txt"
CALL rm.pc.fdir($file.spec, 3, num.items, $items[], types[], status)
TYPE "Unable to delete the file from the PC: ", status
END
FOR i = 1 TO num.items
TYPE $items[i-1]
IF (types[i-1] == 0) THEN
TYPE " Is a file"
ELSE
TYPE " Is a directory"
END
END
; Delete the file on the PC

CALL rm.pc.fdel($file, 3, status)
END
.END

5-8 rm.pc.fapps
Append an array of lines to a file on the PC
Syntax
rm.pc.fapps($file, num.lines, $lines[], wait.time, status)
Input Parameters
5-8 rm.pc.fapps
num.lines The number of lines in the array to copy
$lines[] The lines to append to the file, starting at index 0
plete
5
Output Parameters
Example

AUTO $file.spec
LOCAL REAL types[]
LOCAL $items[]

FOR i = 1 TO 3
END
END



END

END

END

END
TYPE $items[i-1]
TYPE " Is a file"
ELSE
END
END

END
.END

5-9 rm.pc.fapps2
Append an array of lines to a file on the PC
Syntax
rm.pc.fapps2($file, start.idx, num.lines, $lines[], wait.time, status)
Input Parameters
5-9 rm.pc.fapps2
start.idx The starting index in the array
num.lines The number of lines in the array to copy
$lines[] The lines to append to the file, starting at the start.in-
dex
plete 5
Output Parameters
Example

AUTO $file.spec
LOCAL REAL types[]
LOCAL $items[]

FOR i = 1 TO 3
END
END


END

END

END

END
TYPE $items[i-1]
TYPE " Is a file"
ELSE
END
END

END
.END

5-10 rm.pc.fcopy
Copy a file between the controller and the PC.
When specifying the file, one of the files must start with the prefix of 'DISK>'. This is used to determine
the direction of the file copy. If neither of the files starts with 'DISK', then it is considered a file copy
from 1 PC file to another entirely on the PC.
Syntax
rm.pc.fcopy($from.file, $to.file, wait.time, status)
5-10 rm.pc.fcopy
Input Parameters
$from.file The file to copy from
$to.file The file to copy to
plete 5
Output Parameters
Example

AUTO $file.spec
LOCAL REAL types[]
LOCAL $items[]

FOR i = 1 TO 3
END
END


END

END

END

END
TYPE $items[i-1]
TYPE " Is a file"
ELSE
END
END

END
.END

5-11 rm.pc.fdel
Delete a file on the PC
Syntax
rm.pc.fdel($file, wait.time, status)
Input Parameters
$file The name of the file to delete on the PC
5-11 rm.pc.fdel
plete
Output Parameters
5
Example

AUTO $file.spec
LOCAL REAL types[]
LOCAL $items[]

FOR i = 1 TO 3
END
END



END

END

END

END
TYPE $items[i-1]
TYPE " Is a file"
ELSE
END
END

END
.END

5-12 rm.pc.fdir
Perform a file and directory listing on the PC
Syntax
rm.pc.fdir($file.spec, wait.time, num.items, $items[], types[], status)
Input Parameters
$file.spec The file specification to match
5-12 rm.pc.fdir
plete
Output Parameters
5
num.items The number of items returned
$items[] The listing of files and directories found
types[] The types of the items found: 0 = File, 1 = Directory
Example

AUTO $file.spec
LOCAL REAL types[]
LOCAL $items[]

FOR i = 1 TO 3
END
END


END

END

END

END
TYPE $items[i-1]
TYPE " Is a file"
ELSE
END
END

END
.END

5-13 rm.pc.log
Append text to the AceServer log on the PC
Syntax
rm.pc.log($source, $text[], length, wait.time, status)
Input Parameters
$source The source generating the log message
5-13 rm.pc.log
$text The text to append to the log
plete
Output Parameters 5
Example
.PROGRAM ex1.rm.log()
AUTO REAL status
CALL rm.pc.log("Robot 1", "Message To Log", 1, status)

TYPE "Failure to append to AceServer log: ", status
END
.END

5-14 rm.read.anums
Read a list of numeric property variables associated with multiple objects on the PC. The variable ref-
erenced must all be numeric types
Syntax
rm.read.anums($objects[], $variables[], wait.time, values[], status)
Input Parameters
$objects[] The name of the remote objects to access. This must
$variables[] The name of the variables to access
plete
Output Parameters
values[] The values of the variables
Example
.PROGRAM ex1.rm.vars.ns()
AUTO $object, $objects[1], $variables[1]

AUTO REAL values[1], status
; Read multiple values from multiple properties of the same object

$object = "/Numeric Variable"
$variables[0] = "Current Value"
$variables[1] = "IsBoolean"
CALL rm.read.nums($object, $variables[], 1, values[], status)
TYPE "Unable To Read Value: ", status
PAUSE
END
TYPE $variables[0], " = ", values[0]


; Read multiple values from multiple objects

$objects[0] = "/Numeric Variable"
$objects[1] = "/Numeric Variable 2"
CALL rm.read.anums($objects[], $variables[], 1, values[], status)
PAUSE
END
TYPE $objects[0], ".", $variables[0], " = ", values[0]

5-14 rm.read.anums
.END

5-15 rm.read.num
Read a numeric property variable associated with an object on the PC. The variable referenced must
be a numeric type
Syntax
rm.read.num($object, $variable, wait.time, value, status)
Input Parameters
$variable The name of the variable to access
plete
Output Parameters
value The value of the variables
Example
.PROGRAM ex1.rm.vars.n()
AUTO $object, $variable

AUTO REAL value, status
; Write a value of 10 to the numeric variable in the workspace

$variable = "CurrentValue"
value = 10
CALL rm.write.num($object, $variable, 1, value, status)
TYPE "Unable To Write Value: ", status
PAUSE
END
; Read the variable and ensure it is the same value

CALL rm.read.num($object, $variable, 1, value, status)

TYPE "Unable To Read the Value: ", status

PAUSE
END
IF (value <> 10) THEN

TYPE "The update did not succeed"
PAUSE
END
.END
5-15 rm.read.num
5

5-16 rm.read.nums
Read a list of numeric property variables associated with an object on the PC. The variable referenced
must all be numeric types
Syntax
rm.read.nums($object, $variables[], wait.time, values[], status)
Input Parameters
plete
Output Parameters
Example
.PROGRAM ex1.rm.vars.ns()
AUTO $object, $objects[1], $variables[1]

; Read multiple values from multiple properties of the same object

$variables[1] = "IsBoolean"
CALL rm.read.nums($object, $variables[], 1, values[], status)
PAUSE
END


; Read multiple values from multiple objects

$objects[1] = "/Numeric Variable 2"
CALL rm.read.anums($objects[], $variables[], 1, values[], status)
PAUSE
END

5-16 rm.read.nums
.END

5-17 rm.read.str
Read a string property variable associated with an object on the PC. The variable referenced must be
a string type
Syntax
rm.read.str($object, $variable, wait.time, $value, status)
Input Parameters
plete
Output Parameters
$values The value of the variable
Example
.PROGRAM ex1.rm.vars.s()
AUTO $object, $variable, $value

AUTO REAL status
; Write a value of "Text" to the string variable in the workspace

$object = "/String Variable"
$value = "Text"
CALL rm.write.str($object, $variable, 1, $value, status)
PAUSE
END

CALL rm.read.str($object, $variable, 1, $value, status)


PAUSE
END
IF $value <> "Text" THEN

PAUSE
END
.END
5-17 rm.read.str
5

5-18 rm.read.strs
Read a list of string property variables associated with an object on the PC. The variable referenced
must all be string types
Syntax
rm.read.strs($object, $variables[], wait.time, $values[], status)
Input Parameters
$variables[] The names of the variables to access
plete
Output Parameters
$values[] The values of the variables

5-19 rm.read.trns
Read a transform property variable associated with an object on the PC. The variable referenced must
be a Transform3D type
Syntax
rm.read.trns($object, $variable, wait.time, value, status)
Input Parameters
5-19 rm.read.trns
plete 5
Output Parameters
value The value of the variable
Example
.PROGRAM ex1.rm.vars.t()

AUTO REAL status
AUTO LOC t.value
; Write a value of 10 to the transform variable in the workspace

$object = "/Box"
$variable = "OffsetFromParent"
SET t.value = TRANS(10,10,10,0,0,180)
CALL rm.write.trns($object, $variable, 1, t.value, status)
PAUSE
END

CALL rm.read.trns($object, $variable, 1, t.value, status)


PAUSE
END
.END

5-20 rm.read.trnss
Read a list of transform property variables associated with an object on the PC. The variable refer-
enced must all be Transform3D types
Syntax
rm.read.trnss($object, $variables[], wait.time, values[], status)
Input Parameters
5-20 rm.read.trnss
$variable The names of the variables to access
plete 5
Output Parameters

5-21 rm.save
Saves the workspace file on the PC
Syntax
rm.save(wait.time, status)
Input Parameters
$file Name of the file on the PC to save. If empty, save to
the current file
plete
Output Parameters
Example
.PROGRAM ex1.rm.save()
AUTO REAL status
AUTO $file
$file = "C:\workspace.awp"
CALL rm.save($file, 10, status)
TYPE "Unable To Save Workspace: ", status
PAUSE
END
.END

5-22 rm.write.anums
Set the values of an array of numeric properties associated with a collection of objects on the PC. The
property variables referenced must all be of a numeric type
Syntax
rm.write.anums($objects[], $variables[], wait.time, values[], status)
Input Parameters
5-22 rm.write.anums
$objects[] The name of the remote objects to access. This must
plete 5
Output Parameters
Example
.PROGRAM ex1.rm.vars.nws()
AUTO $objects[0], $variables[0]

; Write multiple values from multiple properties of the same object
$variables[0] = "CurrentValue"
values[0] = 110
CALL rm.write.nums($objects[0], $variables[], 1, values[], status)
TYPE "Unable To Write Values: ", status
PAUSE
END
; Perform a multiple object write

CALL rm.write.anums($objects[], $variables[], 1, values[], status)

PAUSE
END
.END

5-23 rm.write.num
Set the value of a numeric property associated with an object on the PC. The property variable refer-
enced must be of a numeric type
Syntax
rm.write.num($object, $variable, wait.time, value, status)
Input Parameters
5-23 rm.write.num
plete 5
Output Parameters
Example
.PROGRAM ex1.rm.vars.n()

AUTO REAL value, status
; Write a value of 10 to the numeric variable in the workspace

value = 10
CALL rm.write.num($object, $variable, 1, value, status)
PAUSE
END

CALL rm.read.num($object, $variable, 1, value, status)


PAUSE
END
IF (value <> 10) THEN

PAUSE
END
.END

5-24 rm.write.nums
Set the values of an array of numeric properties associated with an object on the PC. The property
variables referenced must all be of a numeric type.
Syntax
rm.write.nums($object, $variables[], wait.time, values[], status)
Input Parameters
5-24 rm.write.nums
plete 5
Output Parameters
Example
.PROGRAM ex1.rm.vars.nws()
AUTO $objects[0], $variables[0]

; Write multiple values from multiple properties of the same object
$variables[0] = "CurrentValue"
values[0] = 110
CALL rm.write.nums($objects[0], $variables[], 1, values[], status)
PAUSE
END
; Perform a multiple object write

CALL rm.write.anums($objects[], $variables[], 1, values[], status)

PAUSE
END
.END

5-25 rm.write.str
Set the value of a string property associated with an object on the PC. The property variable refer-
enced must be of a string type
Syntax
rm.write.str($object, $variable, wait.time, $value, status)
Input Parameters
5-25 rm.write.str
plete 5
Output Parameters
Example
.PROGRAM ex1.rm.vars.s()
AUTO $object, $variable, $value

AUTO REAL status
; Write a value of "Text" to the string variable in the workspace

$object = "/String Variable"
$value = "Text"
CALL rm.write.str($object, $variable, 1, $value, status)
PAUSE
END

CALL rm.read.str($object, $variable, 1, $value, status)


PAUSE
END
IF $value <> "Text" THEN

PAUSE
END
.END

5-26 rm.write.strs
Set the values of an array of string properties associated with an object on the PC. The property varia-
bles referenced must all be of a string type
Syntax
rm.write.strs($object, $variables[], wait.time, $values[], status)
Input Parameters
5-26 rm.write.strs
$variable[] The names of the variables to access
plete 5
$values[] The values of the variables
Output Parameters

5-27 rm.write.trns
Set the value of a transformation property associated with an object on the PC. The property variable
referenced must be of a Transform3D type
Syntax
rm.write.trns($object, $variable, wait.time, value, status)
Input Parameters
plete
values The value of the variable
Output Parameters
Example
.PROGRAM ex1.rm.vars.t()

AUTO REAL status
AUTO LOC t.value
; Write a value of 10 to the transform variable in the workspace

$object = "/Box"
$variable = "OffsetFromParent"
SET t.value = TRANS(10,10,10,0,0,180)
CALL rm.write.trns($object, $variable, 1, t.value, status)
PAUSE
END

CALL rm.read.trns($object, $variable, 1, t.value, status)


PAUSE
END
.END
5-27 rm.write.trns
5

5-28 rm.write.trnss
Read a list of transform property variables associated with an object on the PC. The variable refer-
enced must all be Transform3D types
Syntax
rm.write.trnss($object, $variables[], wait.time, values[], status)
Input Parameters
$variables[] The names of the variables to access
plete
Output Parameters

OMRON Corporation Industrial Automation Company Authorized Distributor:
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Contact: www.ia.omron.com
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No. 438A Alexandra Road # 05-05/08 (Lobby 2), © OMRON Corporation 2021 All Rights Reserved.
Alexandra Technopark, OMRON (CHINA) CO., LTD. In the interest of product improvement,
Singapore 119967 Room 2211, Bank of China Tower, specifications are subject to change without notice.
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PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200 Cat. No. I668-E-01 1221
24000-020 A

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V+ Module

V+ Module Reference Manual (I668) 1

2 V+ Module Reference Manual (I668)

Sections in this Manual

2 V+ Robot Vision Manager Module

4 V+ Process Manager Module

5 V+ Remote Library Module

V+ Module Reference Manual (I668) 3

Sections in this Manual ........................................................................................... 3

Terms and Conditions Agreement.......................................................................... 8

Section 1 V+ AceServer Module

Section 2 V+ Robot Vision Manager Module

4 V+ Module Reference Manual (I668)

Section 3 V+ End-effector Module

Section 4 V+ Process Manager Module

V+ Module Reference Manual (I668) 5

6 V+ Module Reference Manual (I668)

4-59 pm.trg.done ..........................................................................................................................4-81

Section 5 V+ Remote Library Module

V+ Module Reference Manual (I668) 7

Terms and Conditions Agreement

Warranty and Limitations of Liability

8 V+ Module Reference Manual (I668)

Suitability for Use

Errors and Omissions

V+ Module Reference Manual (I668) 9

10 V+ Module Reference Manual (I668)

1-1 sv.create_msg................................................................................................. 1-3

V+ Module Reference Manual (I668) 1-1

1-26 sv.write_string .............................................................................................. 1-40

1-2 V+ Module Reference Manual (I668)

V+ Module Reference Manual (I668) 1-3

1-4 V+ Module Reference Manual (I668)

V+ Module Reference Manual (I668) 1-5

1-6 V+ Module Reference Manual (I668)

V+ Module Reference Manual (I668) 1-7

AUTO REAL saved.ptr

; Save the original position of the pointer

; Write some data

1-8 V+ Module Reference Manual (I668)

CALL sv.write_trans(NULL, handle, ptr)

V+ Module Reference Manual (I668) 1-9

AUTO REAL saved.ptr

; Save the original position of the pointer

; Write some data

1-10 V+ Module Reference Manual (I668)

CALL sv.write_trans(NULL, handle, ptr)

V+ Module Reference Manual (I668) 1-11

AUTO REAL saved.ptr

; Save the original position of the pointer

; Write some data

1-12 V+ Module Reference Manual (I668)

CALL sv.write_string("Text", handle, ptr)

; Read the data that was written

V+ Module Reference Manual (I668) 1-13

AUTO REAL saved.ptr

; Save the original position of the pointer

; Write some data

1-14 V+ Module Reference Manual (I668)

CALL sv.write_trans(NULL, handle, ptr)