; ABSTRACT: Perform a move defined by a motion sequence. ; ; INPUTS: tsk.idx Index of the task ; $type Type of item being operated on ; blt.idx Belt number to move to ; 0 = Non-belt relative move ; > 0 = Belt relative move ; reference Encoder/reference position associated ; with the belt. ; pal.idx Instance pallet index ; grip.idx Gripper index to use ; grip.state Expected gripper state ; pos Location of the object/type ; vals The motion configuration array ; ; OUTPUTS: sts Status of the operation ; pm.tsk.success = Successful operation ; pm.tsk.retry = Retry the operation ; pm.tsk.skip = Skip the operation ; pm.tsk.abort = Abort the operation ; pm.tsk.next = Move to the next operation ; pm.tsk.cancel = Cancel the operation ; ; SIDE EFFECTS: None ; ; NOTE: If this program is customized and a loop is added (like a WHILE or DO ... UNTIL), ; then you should add a call to the V+ program pm.rob.montype to ensure the robot queues are ; serviced while the robot task is delayed. Additonally, you should call pm.chk.tskerr ; to check for task errors or shut-down commands. See the ACE Adept refrence guide for more details. ; ;* Copyright © Omron Robotics and Safety Technologies, Inc. All rights reserved.