Communication Tool Queue Size (1 - 100) Queue Size specifies the number of instances that can be written to the queue. The ideal queue size varies greatly. It may require some trial and error to optimize this value for a spe- cific application and environment. Queue Update Queue Update specifies how often the Communication Tool will write new instance data to the queue on the controller. The recommended setting is After Every Instance. After Every Instance The After Every Instance setting pushes each instance to the queue, sep- arately, as it becomes available. This minimizes the time until the first instance is available for use by the V+ application program.
If a large number of instances are located, then it can take longer to push all of the data to the con- troller. After Last Instance The After Last Instance setting sends multiple instances in one data packet. This mode minimizes the total data transfer time, but can increase the time until the first instance is available for use, since the robot is inactive during the time that the PC is writing to the queue. Note that the two Queue Update settings are effectively the same when only one instance is found. Use Soft Signal This is a checkbox that enables the Soft Signal. Soft Signal (0 - 2512) This sets the value of the Soft Signal to use when Use Soft Signal is enabled.
The signal can be used by V+ to synchronize the controller and the PC. This signal instructs the controller that all instances detected by the input tool have been sent to the controller. Gripper Configuration Selection Mode This specifies one of Disabled, Use Default, or Use Model Identifier for determining the offset index of the gripper. Offset Index (1 - 1000) This specifies the index in the gripper offset table to apply as the gripper offset. ACEUser's Guide, 3.6.x, 18316-000 Rev A Page 617