WEISS ROBOTICS GRIPKIT CR PLUS Series Instruction Manual page 41

11.2.3 Gripstate
This function can be used to query the current gripper condition.
Syntax: gripkit_gripstate()
Rückgabewert
0
1
2
3
>=4
11.3 Programming
For programming, the USB stick containing the program must first be removed. Then
connect a USB keyboard to the robot controller.
The following options are available for inserting commands into the program:
1. use the "Custom Code" function There you can transfer the return values of the
functions to variables already existing in the program.
2. call the commands directly via an If function. Please note, however, that it is not pos-
sible to transfer the return values to a variable, but only to compare values.
Then insert the required command into your program and select "Properties" tab. The
following must be observed when inserting:
• With the "Custom Code" function, click directly into the "Singleline" line, or with
several commands into the box below, and enter the desired function e.g. assign
the return value to a variable defined in the program: x =gripkit_gripstate()
• With the If function you click directly into the input line and enter the desired
values using a keyboard: e.g. gripkit_release(4) == 1
Ergebnis
IDLE
Released
No Part
Holding
Error
18