Kuka ready2 educate - Gripper SYN CHECK Inline Form

Fig. 12-3: Gripper CHECK inline form
Item
Description
1 Active grippers
Only active grippers are displayed.
2 Switching state of the gripper being checked
The number and the designation of switching states that can
be selected depends on the configuration.
3
• CONT: The switching state is checked via the advance run.
• [blank]: The switching state is checked with the main run.
4 Error strategy
If a state does not exist, an appropriate error strategy can be
set.
• No Check: The program is continued without checking
whether the switching state exists.
• Strategy 1…3: Configured error strategies
12.1.4 Gripper SYN CHECK inline form
The inline form can be used to check a switching state for the gripper at
the start or end point of the motion. The check of the switching state can
be delayed or brought forward and/or shifted in space.
Fig. 12-4: Gripper SYN CHECK inline form
Item
Description
1 Active grippers
Only active grippers are displayed.
2 Switching state of the gripper being checked
The number and the designation of switching states that can
be selected depends on the configuration.
3 Point to which Gripper SYN CHECK refers
• START: Start point of the motion
• END: End point of the motion
ready2_educate
BA ready2_educate V8 | Issued: 05.09.2018 www.kuka.com | 113/154
Programming