Changes made for Pathfinder 5226 controllers.

Jorns Twinmatic machines have two different kinds of grippers. One is called the sheet gripper which is used most often for production and a flange/alternate gripper that is used for gripping over a flange and/or hem. The initial implementation of using the alternate gripper was not thorough enough to use them in a production setting.

The solution was to implement the correct functionality of the alternate grippers. If the Alternate Gripper is chosen for a step the alternate gripper will extend and open to be able to load the material. Using the gripper pedal will close the alternate gripper and it will stay extended and gripped until another step uses a different backgauge mode or the part is finished. If that is case the gripper pedal can be used to open the gripper and pressing the next step pedal will close and retract the alternate gripper.