V+ End-Effector Program Documentation V+ End-Effector Program Documentation The V+ end-effector library documents the V+ programs a user might use to interact with the end- effector. These programs are a sub-set of the Ace Server program module. End-Effector Library Error Codes If a problem is encountered when executing an end-effector library method, the following error codes can be returned:
Error Code Description -20003 The end-effector will not close -20004 The end-effector will not open -20010 Invalid end-effector referenced -20026 The end-effector will not extend -20027 The end-effector will not retract -20030 A part is detected in the end-effector -20031 No part detected in the end-effector ee.chk.er(ee.idx, tip.idx, state, sts) Abstract Checks the status of the end-effector for extend or release input signals. The gripper waits until the end- effector reaches the desired state before moving.
Input Parameters Parameter Description ee.idx Index of the end-effector tip.idx Zero based index of the tip to access state State of the gripper Output Parameters Parameter Description sts Status of operation ee.chk.oc(tsk.idx, tip.idx, state, sts) Abstract Checks the status of the gripper for an open or close input signal. The robot waits until the gripper reaches the desired state. ACE Reference Guide, 18317-000 Rev A Page 750