V+ End-Effector Program Documentation Output Parameters Parameter Description sts Status of operation ee.select(ee.idx, tip.idx) Abstract Performs a tip selection, extending or retracting tips as needed. It also checks to see if a tip selection program is associated with the current robot end-effector. If one is specified it is executed.
Input Parameters Parameter Description ee.idx Index of the end-effector tip.idx Zero based index of the tip to access -1 All tips 0...N The tip to operate with Output Parameters None Example .PROGRAM a.ex2.gripper(ee.idx) AUTO REAL sts AUTO LOC tool.trans ; Select the first tip CALL ee.select(ee.idx, 0) ; Select all tips CALL ee.select(ee.idx, -1) ; Unselect all tips CALL ee.unselect(ee.idx) ; Extend tip #1 and #2 CALL ee.state(ee.idx, 0, TRUE, TRUE, sts) CALL ee.state(ee.idx, 1, TRUE, TRUE, sts) ACE Reference Guide, 18317-000 Rev A Page 753