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11.2 Program features
11.2.1
Grip (Syntax: gripkit_grip(grip_index))
This function ensures that the gripper grips. To execute a grip, the "Grip" function re-
quires a value between 1 and 4 for the grip to be executed. The function also returns
a return value. This indicates whether the gripper has gripped a workpiece, has not
found a workpiece or an error has occurred. The return values are listed in the follow-
ing table:
Parameter: grip_index: value between 1 and 4
Return
Outcome
2
No Part
3
Holding
>=4
Error
If the gripper is already in the "Holding" or "No Part" state, a release must
first be performed before it can be gripped again
The gripper is initialized via the first grip in the program, before the first
grip is the state of the gripper "Idle".
11.2.2
Release (Syntax: gripkit_release(grip_index))
This function opens the gripper. It requires a parameter value between 1 and 4 for
the release to be executed. The function also returns a return value that indicates
whether the gripper is open or whether an error has occurred. The return values are
listed in the following table:
Parameter: grip_index: value between 1 and 4
Return
Outcome
1
Released
>=4
Error
If the gripper is already in the "Released" state, a handle must first be exe
-
cuted before it can be re-released.
