V+ Process Manager Documentation ; 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.settle(tsk.idx, tip.idx, state, sts) Abstract Wait for the required settling time for the gripper.
Input Parameters Parameter Description tsk.idx Index of the task tip.idx Zero based index of the tip to access state Desired state of the gripper Output Parameters Parameter Description sts Status of the operation pm.gr.state(tsk.idx, tip.idx, state, check.inputs, sts) Abstract Change the state of the gripper tip for the specified robot. Input Parameters Parameter Description tsk.idx Index of the task tip.idx Zero based index of the tip to access state Desired state of the gripper check.inputs Do we wait for inputs ACE Reference Guide, 18317-000 Rev A Page 774