Changed Blow Air behaviour - and Gripper Signal to Robot

Logical/Communication/ABBCom/ABBCom.st

@@ -138,6 +138,7 @@ PROGRAM _CYCLIC
   //Ausgangs Byte 2 (16-23)
   dpOutByte[2].0 := gEGP[1].In.bGripperIsOpen;  
   dpOutByte[2].1  := gEGP[1].In.bGripperIsClosed OR gEGP[1].In.bGripperIsClosedWithPart;  
+  dpOutByte[2].2  := gEGP[1].In.bGripperIsClosed;  
   
   dpOutByte[2].3 := gEGP[2].In.bGripperIsOpen;  
   dpOutByte[2].4  := gEGP[2].In.bGripperIsClosedWithPart;  

Logical/MachCtrl/MachCtrl/Action.st

@@ -247,11 +247,15 @@ ACTION DoTool:
   IF EDGEPOS (lCmdInterface.Robot.FromRobot.bPlacedPart) THEN
     //Neues Teil eingelegt
     States.enDieState := enDIE_NEWPART;
+    //Abblasen beendet
+    Valves.bBlowAir := FALSE;
   END_IF
   
   IF EDGEPOS (lCmdInterface.Robot.FromRobot.bPicketFinishedPart) THEN
     //Fertigteil entfernt
     States.enDieState := enDIE_EMTPY;
+    //Abblasen
+    Valves.bBlowAir := NOT gCmd1.Robot.ToRobot.bStopPickingParts;
   END_IF
   
 END_ACTION

Logical/MachCtrl/MachCtrl/Cyclic.st

@@ -431,10 +431,7 @@ PROGRAM _CYCLIC
         IF States.CylinderPos.bXHomePos THEN
           Valves.bHoldPart := FALSE;
         END_IF
-        
-        //Abblasen
-        Valves.bBlowAir := TRUE;
-                
+                        
         //Spindel ausschalten
         gCmd1.Mill.ToMill.bStartMill := FALSE;
                 
@@ -449,7 +446,6 @@ PROGRAM _CYCLIC
           enStepAuto := enAutoStep_WAIT_RESULT;
           TimesLatch.diSteptime := gdiSystemTime;
           gbOuTriggerMeasCam := NOT States.bDisableCam;
-          Valves.bBlowAir := FALSE;
         END_IF