12 Programming
Information about programming the robot is contained in the operating
and programming instructions for the KUKA System Software.
Information about programming the gripper can be found in the operat-
ing and programming instructions for GripperSpotTech.
12.1 Inline forms – overview
Inline form Description
Gripper SET (>>> 12.1.1 "Gripper SET inline form" Page 111)
Gripper SYN SET (>>> 12.1.2 "Gripper SYN SET inline form" Page 112)
Gripper CHECK (>>> 12.1.3 "Gripper CHECK inline form" Page 112)
Gripper SYN CHECK (>>> 12.1.4 "Gripper SYN CHECK inline form" Page 113)
12.1.1 Gripper SET inline form
The switching state of the gripper is set via the inline form.
Fig. 12-1: Gripper SET inline form
Item
Description
1 Active grippers
Only active grippers are displayed.
2 Switching state of the gripper that is set.
The number and the designation of switching states that can
be selected depends on the configuration.
3
• CONT: The switching state is set via the advance run.
• [blank]: The switching state is set with the main run.
4 Wait time
The program is continued when the specified wait time has ex-
pired.
• 0.0 … 10.0 s
Default: 0.2 s
This box is only displayed if the switching state is in the main
run.
5 Error strategy
ready2_educate
BA ready2_educate V8 | Issued: 05.09.2018 www.kuka.com | 111/154
Programming
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