 Programm
   Variablen-Setup
   Roboterprogramm
     GRIPLINK CONNECT
     GRIPLINK ENABLE
     GRIPLINK HOME
     'Grip with do_block = 0 - GL_GRIP(<PORT>, <PRESET_INDEX>, <do_block>, <SOCKET_NAME>)'
     GL_GRIP(0,0,0,"sock_griplink")
     'Wait for gripper to finish (WSTR), then read and store its DEVSTATE for evaluation'
     GRIPLINK GET DEV STATE
     'Global constants mapping numeric device states (0-7) to readable names'
     'S_HOLDING (5), S_NO_PART (4) and S_RELEASED (3)'
     If Dev_State ≟ S_HOLDING
       'Holding a part'
       GRIPLINK RELEASE
       GRIPLINK DISABLE
     ElseIf Dev_State ≟ S_NO_PART
       'Not holding a part'
       GRIPLINK DISABLE
     Else
       Halt
