V+ End-Effector Program Documentation CALL pm.gr.state(tsk.idx, 1, TRUE, TRUE, sts) ; Set the offset associated with tip #2 CALL pm.gr.setoff(tsk.idx, 0, NULL, sts) ; Get the offset associated with tip #2 CALL pm.gr.trans(tsk.idx, 0, tool.trans, sts) .END ee.unselect(ee.idx) Abstract Retracts all of the end-effector tips.
Input Parameters Parameter Description ee.idx Index of the end-effector Output Parameters None 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 ACE Reference Guide, 18317-000 Rev A Page 759