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3.7
Simultaneous gripping of workpieces - MGRIP
This command causes the selected gripping modules to execute a grip. The command waits until all
gripping modules addressed have each reached one of the states HOLDING or NO PART. If one of the
devices reaches the FAULT state or a timeout occurs, the program will be stopped.
The gripping parameters can be configured via the web interface of the GRIPLINK
controller.
Syntax
GRIPLINK_MGRIP(< 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
The gripping modules at ports 0 and 1 grip with grip configuration 2:
GRIPLINK_MGRIP(2,1,1,0,0)
