Assistance Needed – Left-Hand Gripper Activation Issue on ABB YuMi Robot

Virat

I am currently working with an ABB YuMi robot featuring dual arms and smart ABB servo grippers. However, I am facing an issue with gripper operation.

My objective is to activate only the left-hand gripper when a specific signal is triggered. I have set up a background task where the robot waits for the signal at a particular stage. Within this task, I have implemented logic instructing the left-hand gripper to open. However, upon triggering the signal, only the right-hand gripper operates instead, which is not the intended behavior.

Unfortunately, changing the IP of the grippers is not an option, as all programming has already been completed. Given these constraints, I am looking for insights or solutions to ensure only the left-hand gripper responds in the background task.

Has anyone encountered a similar issue or can provide guidance on possible troubleshooting steps? Your expertise would be greatly appreciated.

Looking forward to your suggestions.

Code- 

 PROC BG_Logic()

        IF custom_DO_7=1 THEN

         g_MoveTo 10;

         SetDO custom_DO_7,0;

        ENDIF

ENDPROC