V+ End-Effector Program Documentation ee.idx Index of the end-effector tip.idx Zero based index of the tip to access state State of the gripper check.inputs Check to see if the end-effector is waiting for an input Output Parameters Parameter Description sts Status of operation 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) 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.tip.er(tsk.idx, tip.idx, state) Abstract Changes the extend or retract state of the gripper tip for the specified robot.
ACE Reference Guide, 18317-000 Rev A Page 756