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3.4
Deactivate device - DISABLE
This command deactivates the device connected to the selected port. This command can be used, for
example, to change tools. The device can be reactivated via GRIPLINK_ENABLE.
Syntax
GRIPLINK_DISABLE(< PORT >)
Parameters
< PORT >
Index of the device port (0 to 3)
Example
Change the gripping module at port 0:
; Connect to GRIPLINK
GRIPLINK_CONNECT()
Activate gripper 0
GRIPLINK_ENABLE(0)
; DO something
; ...
; Prepare tool change:
; Disable gripper 0:
GRIPLINK_DISABLE(0)
; Now, the gripper can be changed
;
; - OPERATE THE TOOL CHANGER HERE -
;
; Activate the new gripper:
GRIPLINK_ENABLE(0)
