WEISS ROBOTICS GRIPLINK, Руководство пользователя

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3.6 Grip workpiece - GRIP
This command causes the selected gripping module to grip a workpiece using the selected grip
configuration. The command is executed until the gripping state corresponds to HOLDING or to NO
PART. However, if the device state corresponds to FAULT or a timeout occurs, the running program is
stopped.
The gripping parameters can be configured via the web interface of the GRIPLINK
controller.
Syntax
GRIPLINK_GRIP(< PORT >,< INDEX >)
Parameters
< PORT > Index of the device port (0 to 3)
< INDEX > Selected handle (range depends on gripper model)
Example
The gripping module at port 0 is to grip with grip configuration 2.
GRIPLINK_GRIP(0,2)