V+ End-Effector Program Documentation Input Parameters Parameter Description tsk.idx Index of the task tip.idx Zero based index of the tip to access state State of the gripper Output Parameters None ee.tip.erdw(ee.idx, tip.idx) Abstract Performs the required extend or retract dwell of the end-effector tip. Input Parameters Parameter Description ee.idx Index of the end-effector tip.idx Zero based index of the tip to access Output Parameters None ee.tip.oc(ee.idx, tip.idx, state, sts) Abstract Changes the open and closed state of the end-effector tip.
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 ACE Reference Guide, 18317-000 Rev A Page 757