;%_N_GRP_1_SPF

N1 PROC GRP_1(BOOL OP_CL_G1, REAL P_STAT_G1)

; define procedure "GRF_1"

; input parameter:

; OP_CL_G1  = 0 (FALSE): OPen Gripper 1

; OP_CL_G1  = 1 (TRUE) : CLose Gripper 1

; P_STAT_G1 - expected Part STATus of Gripper 1

N100 WHEN TRUE DO $A_DBB[10]=0

N101 WHENEVER $A_DBB[10]==0 DO RDISABLE

N102 IF OP_CL_G1

N103   G4 F=0.2 M11=P_STAT_G1   ; close grippper 1

N104 ELSE

N105   G4 F=0.2 M10=0           ; open gripper 1

N106 ENDIF

请教各位大侠，上面的WHEN TRUE是谁的真假？