V+ Process Manager Documentation ; Select all tips CALL pm.gr.select(tsk.idx, -1) ; Unselect all tips CALL pm.gr.unselect(tsk.idx) ; Extend tip #1 and #2 CALL pm.gr.state(tsk.idx, 0, TRUE, TRUE, sts) 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 pm.gr.setoff(tsk.idx, tip.idx, tool.trans, sts) Abstract Associates an offset with a specific gripper tip.
Input Parameters Parameter Description tsk.idx Index of the task tip.idx Zero based index of the tip to access tool.trans Gripper tip transform Output Parameters Parameter Description sts Status of the operation 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) ; Select all tips CALL pm.gr.select(tsk.idx, -1) ACE Reference Guide, 18317-000 Rev A Page 773