V+ Process Manager Documentation pm.gr.select.ck(tsk.idx, tip.idx, resp) Abstract Check for any gripper selection errors. Input Parameters Parameter Description tsk.idx Index of the task tip.idx Zero based index of the tip to access Output Parameters Parameter Description resp User response to an error pm.gr.select(tsk.idx, tip.idx) Abstract Perform a tip selection, extending or retracting tips as needed. It also checks if a tip selection program is associated with the current robot gripper. If one is specified it will be executed.
Input Parameters Parameter Description tsk.idx Index of the task tip.idx Zero based index of the tip to access -1 = All tips 0...N = The tip to operate with Output Parameters None Example This program is always used in the context of a robot program and should always be called directly from the robot task. .PROGRAM a.ex2.gripper() AUTO REAL tsk.idx, sts AUTO LOC tool.trans tsk.idx = TASK() ; Select the first tip CALL pm.gr.select(tsk.idx, 0) ACE Reference Guide, 18317-000 Rev A Page 772