YASKAWA Smart Series Application Note page 42


Assigns parametric data to "local variables" specific to the "Robotiq-2F.JBI sub-job for gripper
analysis operation. Local variables can be accessed and configured using the "Settings" button
on the top-left of the INFORM screen

Checks if gripper is activated. Attempts to activate if the gripper is inactive

Checks direction of the position request (opening or closing)

Set grasp parameters commanded by user and trigger Robotiq GoTo position signal

Verifies successful grasp of the workpiece using

Alarms in the case of an unsuccessful grasp using Smart Pendant's SetUserAlarm
command. If this occurs, the user can reset the workpiece/items in the workcell, reset
this alarm, and continue the job from where it was paused. See the example below
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