V+ End-Effector Program Documentation ; Extend tip #1 and #2 CALL ee.state(ee.idx, 0, TRUE, TRUE, sts) CALL ee.state(ee.idx, 1, TRUE, TRUE, sts) ; Set the offset associated with tip #2 CALL ee.setoff(ee.idx, 0, NULL, sts) ; Get the offset associated with tip #2 CALL ee.trans(ee.idx, 0, tool.trans, sts) .END ee.gr.settle(ee.idx, tip.idx, state, sts) Abstract Waits for the required settling time for the end-effector.
Input Parameters Parameter Description ee.idx Index of the end-effector tip.idx Zero based index of the tip to access state State of the gripper Output Parameters Parameter Description sts Status of operation ee.state(ee.idx, tip.idx, state, check.inputs, sts) Abstract Changes the state of the end-effector tip. Input Parameters Parameter Description ACE Reference Guide, 18317-000 Rev A Page 755