def rq_cycle_tool_voltage_until_connection():
    gripper_socket = "gripper_conn_socket"
    socket_open(rq_gripper_socket_ip_address, rq_gripper_socket_port, gripper_socket)

    sid_list = rq_get_sid(gripper_socket)
    gripper_is_connected = rq_is_any_gripper_connected(sid_list)

    while(not gripper_is_connected):
        textmsg("*** No gripper detected")
        
        set_tool_voltage(0)     # Remove power
        sleep(2)                # Wait power off
        set_tool_voltage(24)    # Power on
        sleep(5)                # Wait during gripper boot
        
        sid_list = rq_get_sid(gripper_socket)
        gripper_is_connected = rq_is_any_gripper_connected(sid_list)
    end

    socket_close(gripper_socket)
end