 Programm
   Variablen-Setup
   Roboterprogramm
     GRIPLINK CONNECT
     GRIPLINK ENABLE
     GRIPLINK HOME
     GRIPLINK FLEXGRIP
     GRIPLINK GET DEV STATE
     'Global constants mapping current numeric device states (0-7) to readable names'
     'S_HOLDING (5), S_NO_PART (4), S_RELEASED (3)  '
     If Dev_State ≟ S_HOLDING
       'Holding a part'
       GRIPLINK FLEXRELEASE
       GRIPLINK DISABLE
     ElseIf Dev_State ≟ S_NO_PART
       'Not holding a part'
       GRIPLINK DISABLE
     Else
       Halt
     GRIPLINK DISABLE
