WEISS ROBOTICS GRIPLINK, Руководство пользователя

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3 Command Reference
The GRIPLINK plugin provides a collection of generic motion and grip functions as well as functions for
reading connected sensors. The commands are defined as globally visible subprograms, which receive
their parameters as transfer values. To execute a command, the corresponding subroutine must be
called.
The basic program flow with the GRIPLINK plugin is always as follows:
1. Establish connection with GRIPLINK_CONNECT
2. Activate gripping module or sensor with GRIPLINK_ENABLE
3. For servo gripping modules without absolute encoder: Reference gripping module with
GRIPLINK_HOME
4. Grip or release with GRIPLINK_GRIP or GRIPLINK_RELEASE
5. Disconnect with GRIPLINK_DISCONNECT
The commands available with the GRIPLINK plug-in are described below.