AIM Command Server Statements

This section provides information about the ACS statements that are included in the baseline ACS system. These statements can be used in any runtime sequence when the ACS module is installed.

• ATTACH_ROBOT

• DETACH_ROBOT

• MOVE_VAR

ATTACH_ROBOT Statement

The ATTACH_ROBOT statement is used to attach the robot to a runtime task.

The syntax for ATTACH_ROBOT is:

	ATTACH_ROBOT 

DETACH_ROBOT Statement

The DETACH_ROBOT statement is used to detach the robot from a runtime task.

The syntax for DETACH_ROBOT is

	DETACH_ROBOT 

MOVE_VAR Statement

The MOVE_VAR statement executes the basic robot tasks of ACS.

The syntax for MOVE_VAR is

MOVE_VAR {{APPROACH path} FROM variable} {ALONG
	path}TO variable {DEPART path} {USING 
	tool}{{ALONG path} REJECT variable {RETURN 
	path}{WAIT_AT --variable--} {OK_SIGNAL--o_variable--} 

The sequence of operations performed by this statement is:

1. If a tool transformation is specified (USING--tool--), apply that tool to describe the current robot gripper. Otherwise, leave the tool transformation unchanged.

2. If an approach path is specified (APPROACH--path--), move along that path to the FROM location.

3. If a FROM location is specified (FROM--variable--), move to that location and execute the location strategy routine or sequence specified in the location record.

4. If specified in the location record, the approach and depart strategies will be executed at the beginning of the approach and beginning of the depart move for that location.

5. If the first "along" path is specified (ALONG--path--), move along that path to the TO location.

6. Move to the TO location (TO--variable--) and execute the location strategy routine or sequence specified in the location record.

7. If specified in the location record, the approach and depart strategies will be executed at the beginning of the approach and beginning of the depart move for that location.

8. If a depart path is specified (DEPART--path--), depart the TO location along that path.

9. The remaining steps are executed only if an error occurs and the operator chooses the Retry Statement, Skip Statement, or Skip Cycle button from the debug control panel, or the strategy routine returns rn.opr.fail.

10. If a second along path (ALONG--path--) is specified, move along that path to the reject location.

11. Move to the reject location (REJECT--variable--) and execute the strategy or sequence specified in the location record.

12. If the return path is specified (RETURN--path--), depart from the reject location along that path.

If the TO or FROM location is relative to a moving conveyor, the WAIT_AT location specifies the location at which the robot waits until the part is within the belt window.

The complete wait location is determined as follows:

• If there are no "new" objects in the queue, use the path specified in the conveyor record.
• If the object is upstream of the belt window, get the location Z, APPRO, ACCEL, configuration options, speed, and motion parameter values from the WAIT_AT argument. Use the Dynamic wait line from the conveyor record for the position in the belt direction of travel. Use the location of the object in the queue to determine the robot position lateral to the belt (perpendicular to direction of belt travel) and the object rotation for the robot orientation.

This strategy allows you to place the robot in the most advantageous position to access the next object.

The OK_SIGNAL is an output signal set to TRUE if the statement completes all defined arguments through the DEPART argument. Otherwise, it is set to FALSE.