V+ End-Effector Program Documentation Input Parameters Parameter Description tsk.idx Index of the task tip.idx Zero based index of the tip to access state State of the gripper Output Parameters Parameter Description sts Status of operation ee.clroff(ee.idx, sts) Abstract Clears all refinement offsets associated with the end-effector. Input Parameters Parameter Description ee.idx Index of the end-effector Output Parameters Parameter Description sts Status of operation ee.presence(tsk.idx, tip.idx, state, sts) Abstract Check if the part presence sensor is in the desired state. The robot waits until the gripper reaches the desired state.
Input Parameters Parameter Description tsk.idx Index of the task tip.idx Zero based index of the tip to access state Desired state of the part presence sensors ACE Reference Guide, 18317-000 Rev A Page 751