Left-Hand Gripper Activation Issue on ABB YuMi

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 another  task, I have implemented logic instructing the left-hand gripper to open. if a condition satisfy while Left hand is waiting. ( example Left hand is waiting for signal A & While  in another task TASK_BG if signal B is = 1  then Left hand gripper shall open )  However, upon triggering the signal B , only the right-hand gripper operates instead( which is not included in Task_BG Logic ) , 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.