V+ End-Effector Program Documentation ; Set the offset associated with tip #2 CALL ee.setoff(ee.idx, 0, NULL, sts) ; Get the offset associated with tip #2 CALL ee.trans(ee.idx, 0, tool.trans, sts) .END ee.setoff(ee.idx, tip.idx, tool.trans, sts) Abstract Associates an offset with a specific end-effector tip.
Input Parameters Parameter Description ee.idx Index of the end-effector tip.idx Zero based index of the tip to access tool.trans Gripper tip transform Output Parameters Parameter Description sts Status of operation 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) ACE Reference Guide, 18317-000 Rev A Page 754