V+ Process Manager Documentation tool.trans The gripper tip transformation 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) ; 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.unselect(tsk.idx) Abstract Retract all the tips.
Input Parameters Parameter Description tsk.idx Index of the task Output Parameters None ACE Reference Guide, 18317-000 Rev A Page 776