WEISS ROBOTICS GRIPLINK, Руководство пользователя

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3.9 Simultaneous release of workpieces - MRELEASE
This command causes the selected gripping modules to release a gripped workpiece at the same time.
The command waits until all addressed gripping modules have each reached the RELEASED state. If
one of the devices reaches the FAULT state or a timeout occurs, the program will be stopped.
Syntax
GRIPLINK_MRELEASE(< INDEX >,< PORT0 >,< PORT1 >,< PORT2 >,< PORT3 >)
Parameters
< INDEX > Selected handle (range depends on gripper model)
< PORT0 > Select port 0: 1 = selected, 0 = not selected
< PORT1 > Select port 1: 1 = selected, 0 = not selected
< PORT2 > Select port 2: 1 = selected, 0 = not selected
< PORT3 > Select port 3: 1 = selected, 0 = not selected
Example
Gripping modules at ports 1, 2 and 3 release a workpiece with grip configuration 3:
GRIPLINK_MRELEASE(3,0,1,1)