KST GripperSpotTech 40 en
KST GripperSpotTech 40 en
GripperSpotTech 4.0
GripperSpot-
Tech 4.0
Issued: 15.02.2017
© Copyright 2017
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC
Contents
1 Introduction .................................................................................................. 5
1.1 Target group .............................................................................................................. 5
1.2 Industrial robot documentation ................................................................................... 5
1.3 Representation of warnings and notes ...................................................................... 5
1.4 Terms used ................................................................................................................ 6
3 Safety ............................................................................................................ 9
4 Installation .................................................................................................... 11
4.1 System requirements ................................................................................................. 11
4.2 Installing or updating GripperSpotTech ..................................................................... 11
4.3 Uninstalling GripperSpotTech .................................................................................... 11
5 Operation ...................................................................................................... 13
5.1 Menus ........................................................................................................................ 13
5.2 Gripper selection ........................................................................................................ 13
5.3 Controlling grippers manually .................................................................................... 13
5.3.1 Status keys ........................................................................................................... 14
5.3.2 Display of the switching states .............................................................................. 14
6 Configuration ............................................................................................... 17
6.1 Configuration, overview ............................................................................................. 17
6.2 Configuring technology parameters ........................................................................... 17
6.3 Configuring an error strategy ..................................................................................... 17
6.4 Configuring a gripper ................................................................................................. 18
6.4.1 “Gripper” tab ......................................................................................................... 18
6.4.2 “States and IO” tab ............................................................................................... 19
6.4.3 “Mapping” tab ........................................................................................................ 20
6.5 Configuring GripperSpotTech in WorkVisual ............................................................. 21
6.5.1 Saving and loading a configuration ....................................................................... 22
6.5.2 Organizing grippers .............................................................................................. 22
6.5.3 Organizing icons ................................................................................................... 22
7 Programming ............................................................................................... 23
7.1 Inline forms – overview .............................................................................................. 23
7.2 Gripper SET inline form ............................................................................................. 23
7.3 Gripper SYN SET inline form ..................................................................................... 24
7.4 Gripper CHECK inline form ........................................................................................ 24
7.5 Gripper SYN CHECK inline form ............................................................................... 25
7.6 SPOT inline form ....................................................................................................... 26
7.7 RETRACT inline form ............................................................................................... 27
7.8 Option window “Frames” ........................................................................................... 28
7.9 Option window “Motion parameters” (LIN, CIRC, PTP) ........................................... 29
7.10 Option window “Early closing of gun” ...................................................................... 30
7.11 Option window “Parameters for first electrode pair” .............................................. 30
8 Examples ...................................................................................................... 31
8.1 Example program USERSPOT.SRC ......................................................................... 31
8.1.1 Overview of I/Os – robot controller (KR C) / weld controller (PLC) ...................... 33
8.1.2 Signal diagram: SPOT without the options RETRACT and PRESPOT ................ 35
8.1.3 Signal diagram: SPOT with the options RETRACT and PRESPOT ..................... 37
9 Messages ...................................................................................................... 39
9.1 Information about the messages ............................................................................... 39
9.2 System messages from module: GripperTechKrl ...................................................... 39
9.2.1 GripperTechKrl 11001 .......................................................................................... 39
9.2.2 GripperTechKrl 11002 .......................................................................................... 40
9.2.3 GripperTechKrl 11003 .......................................................................................... 42
9.2.4 GripperTechKrl 11004 .......................................................................................... 43
9.2.5 GripperTechKrl 11005 .......................................................................................... 43
9.2.6 GripperTechKrl 11007 .......................................................................................... 44
9.2.7 GripperTechKrl 11008 .......................................................................................... 46
9.2.8 GripperTechKrl 11011 .......................................................................................... 47
9.2.9 GripperTechKrl 11012 .......................................................................................... 49
9.2.10 GripperTechKrl 11013 .......................................................................................... 51
9.2.11 GripperTechKrl 11014 .......................................................................................... 53
9.2.12 GripperTechKrl 11024 .......................................................................................... 55
9.2.13 GripperTechKrl 11026 .......................................................................................... 56
9.2.14 GripperTechKrl 11027 .......................................................................................... 57
9.2.15 GripperTechKrl 11028 .......................................................................................... 57
9.2.16 GripperTechKrl 11029 .......................................................................................... 58
9.2.17 GripperTechKrl 11030 .......................................................................................... 59
Index ............................................................................................................. 69
1 Introduction
t
This documentation is aimed at users with the following knowledge and skills:
Advanced knowledge of the robot controller system
Advanced KRL programming skills
Notices These notices serve to make your work easier or contain references to further
information.
Term Description
SPOT Working stroke, i.e. the opening of the weld gun used to execute a weld
spot
RETRACT Retract stroke, i.e. the complete opening of the weld gun
PRESPOT Early closing of the weld gun
The closing of the working stroke does not start after the point for the
weld spot has been reached, but while the robot is still moving to the
point.
GhostMode The inputs/outputs of the gripper are simulated in GhostMode. The out-
puts are not switched and the inputs are not evaluated.
GhostMode can be switched on via an input (higher-level controller) or
the configuration. If GhostMode is active, a notification message is dis-
played with every gripper action.
2 Product description
2
2.1
t
Overview of GripperSpotTech
tions:
Misuse Any use or application deviating from the intended use is deemed to be misuse
and is not allowed. The manufacturer cannot be held liable for any resulting
damage. The risk lies entirely with the user.
Examples of such misuse include:
Use in a non-industrial environment
3 Safety
f
The outputs from the robot system to the gripper are not
designed with failsafe technology. When planning the
cells, it must therefore be ensured that the gripper cannot be actuated inad-
vertently. In particular, it must be ensured that the gripper does not open au-
tomatically, thereby dropping the workpiece, when the power supply is
deactivated (e.g. by opening the safety gates).
Failure to observe this precaution may result in death, severe injuries or con-
siderable damage to property.
Alternatively, the following inputs and outputs of a safe PLC can be used:
Safe outputs to the actuators on the gripper
Safe inputs from sensors on the workpiece support
The safe inputs and outputs must be configured in such a manner that a grip-
per output can only be set if the part sensor is actuated.
Alternatively, the working area can be mechanically safeguarded against fall-
ing workpieces.
4 Installation
4
Hardware KR C4
Procedure 1. Only for an update: Uninstall the previous version of the GripperSpot-
Tech option package in WorkVisual.
2. Install the GripperSpotTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the GripperSpotTech option package into the project.
5. Configure the option package in WorkVisual.
(>>> 6.1 "Configuration, overview" Page 17)
6. Deploy the project from WorkVisual to the robot controller and activate it.
A window with modifications is displayed.
7. Confirm the changes with Yes. The robot controller carries out a reboot.
4. Deploy the project from WorkVisual to the robot controller and activate it.
The technology package is uninstalled and the robot controller carries out
a reboot.
5 Operation
5.1 Menus
t
The following menus and commands are specific to this technology package:
Main menu:
Configuration > Status keys > Gripper/SpotTech
Configuration > Gripper/SpotTech
Gripper
Parameters
Display > Gripper/SpotTech
Menu sequence:
Commands > GripperTech
Gripper Set
Gripper Syn Set
Gripper Check
Gripper Syn Check
Commands > SpotTech
Spot
PTP, LIN, CIRC
Retract
PTP, LIN, CIRC
Item Description
1 Selected gripper
Check box active: Gripper is active.
Check box not active: Gripper is not active.
2 Name of the selected gripper
Active grippers can be controlled manually using the status keys or the display
plug-in.
Precondition The status keys can only be operated if the following conditions are met:
T1 or T2 mode
No program is active.
Enabling switch is pressed.
Submit interpreter is running.
Description The 4 status keys on the smartPAD can be assigned to their corresponding
functions via the configuration. The active gripper can be selected using the
first key. Switching states 1 - 3 are set using the other 3 keys.
The function performed by the grippers depends on the configuration. Not all
status keys of the bar have to be assigned a function.
In addition, graphical elements illustrating the function of each status key are
located on the side panel of the smartHMI screen next to the status keys. This
can also be defined individually in the configuration.
Only active grippers are displayed for selection.
Precondition The switching states can only be set if the following conditions are met:
T1 or T2 mode
No program is active.
Enabling switch is pressed.
Submit interpreter is running.
Description The display of the switching states offers the following options:
Display of all switching states for the gripper
Manual operation of the gripper using buttons
Item Description
1 Switching states 1 … 3
Switching states 1 … 3 can be set from this display and via the sta-
tus keys.
When configured as a critical key, switching states 1 … 3 can be
set via the status keys but not via the plug-in for safety reasons.
The last switching state set is displayed via an LED icon on the sta-
tus keys:
Green: Switching state is OK.
Red: Switching state is not OK. The faulty inputs are also dis-
played with a red LED icon.
2 Switching states 4 … 6
Switching states 4 … 6 can only be set from this display and cannot
be defined as a critical key.
The last switching state set is displayed via an LED icon on the sta-
tus keys:
Green: Switching state is OK.
Red: Switching state is not OK. The faulty inputs are also dis-
played with a red LED icon.
3 State of the inputs/outputs
The LED icons indicate whether the state of the input/output is ac-
tive:
Green: Output is set; input is TRUE
Gray: Output is not set; input is FALSE
6 Configuration
f
Configuration Description
Technology parameters (>>> 6.2 "Configuring technology parameters" Page 17)
Error strategy (>>> 6.3 "Configuring an error strategy" Page 17)
Gripper (>>> 6.4 "Configuring a gripper" Page 18)
WorkVisual (>>> 6.5 "Configuring GripperSpotTech in WorkVisual"
Page 21)
Parameter Description
Input for GhostMode On Number of the input used to switch GhostMode on
0: GhostMode is not switched on via an input.
1 … $NUM_IN: If the input is TRUE, then GhostMode is ac-
tivated.
Default: 0
GhostMode On Switches GhostMode on (not via input)
Check box active: GhostMode is switched on.
Check box not active: GhostMode is switched off.
Default: GhostMode is switched off.
Output number for error Number of the output that is set in the case of an error (error in-
formation to the higher-level controller).
0: No output is set.
1 … $NUM_OUT: Output is set with this number.
Default: 0
Error strategy 1…3 3 error strategies can be configured. These can be selected later
in the inline forms with gripper monitoring.
The selected error strategies are executed if the switching state
does not exist. (>>> 6.3 "Configuring an error strategy" Page 17)
It is possible to set how the robot controller should react to a fault in a specific
process. The output can be used to signal the fault to a higher-level controller,
for example.
The following error strategies can be configured:
Parameter Description
Error strategy 1 … 3 Stop: Regardless of the mode, the program is stopped with-
out a dialog message. Manual intervention (block selection,
program reset, etc.) is required.
Dialog in T1/T2: A dialog message is only displayed in
T1/T2 mode. Otherwise, the program is stopped. (Default)
Dialog in T1/T2/AUT: A dialog message is only displayed in
T1/T2 or AUT mode. Otherwise, the program is stopped.
Dialog in T1/T2/AUT/EXT: A dialog message is displayed in
all operating modes.
User strategy: The technology calls up a UserRoutine, in
which the user can program his own logic/strategy. Depend-
ing on the return value (TRUE/FALSE), the process is con-
tinued or stopped.
The error strategy can be configured in the file Grp_User.src
(path: R1\TP\GripperSpotTech).
Dialog following The response to detection of a switching state error is as follows depending
error in T1/T2 on the operating mode:
AUT and EXT: The program is stopped.
T1 or T2: In the case of the default setting, a dialog appears.
If a dialog message is displayed, the following answers can be selected:
Answer Effect
Repeat The switching state is evaluated again.
Ignore The error is ignored and the process is resumed.
Stop The program is stopped and manual intervention is required
(block selection, program reset, etc.).
Procedure 1. Select Configuration > GripperSpotTech > Gripper in the main menu.
2. Set the parameters on the tabs as required.
3. Close the window and respond to the request for confirmation of whether
the change should be saved by pressing Yes.
Parameter Description
Gripper name Name of the gripper (max. 24 characters)
The name is displayed in the inline form. The predefined name
can be changed.
Status Check box active: Grippers can be controlled via the status
key and programmed via the inline form.
Check box not active: Gripper is not active.
Number of switching states Number of switching states of the gripper
1…6
Number of outputs Number of outputs with which the gripper is controlled.
1…6
Number of inputs Number of inputs with which the gripper is monitored.
1…6
Gripper icon Selection of icons for the status key and for the display plug-in
Default: Icons with number
Timeout for switching states During the state check, this is the maximum wait period before
the switching state must be fulfilled (Set Gripper with monitoring,
Check Gripper).
If this time has elapsed and the switching state is still not pres-
ent, the error strategy is started.
If the switching state does exist, the program is continued with-
out waiting this time.
0…10 s
Default: 3 s
Pulse duration of outputs Pulse duration of the outputs that are defined as pulses.
0…3 s
Default: 0.5 s
The switching states as well as the inputs and outputs are defined on the
States and IO tab.
On the subsequent Mapping tab, the defined inputs and outputs as well as the
conditions for manual operation are assigned to the switching states defined
here.
Switching states
Parameter Description
No. Number of the switching state
Internal index for the controller. Begins with 1 and is consecutive.
Cannot be modified.
Image Switching state icon
Selection of icons that are to be displayed on the status keys and
in the display plug-in for the switching state.
Name Name of the switching state
Is displayed in the inline forms if the corresponding gripper is se-
lected.
Parameter Description
Type Type of status key for this switching state
Standard key: Action is executed immediately.
Critical key: The key must be pressed twice in succession
within 1 s for the action to be executed. Only the first 3 status
keys can be defined as critical keys. The remaining 3 can
only be displayed in the display plug-in and therefore cannot
be defined as critical.
Description Description of the switching state
Inputs and
outputs
Parameter Description
No. Internal index for control of the output.
Internal index for evaluation of the input.
Begins with 1 and is consecutive.
Cannot be modified.
Output/Input Output and input
1 … $Num_Out, $Num_In
Default: 0
Ghost Setting as to whether the inputs/outputs are to be set or evaluat-
ed in GhostMode.
Inputs:
Sim with check box active: Input is not evaluated.
Sim with check box not active: Input is evaluated in Ghost-
Mode too.
Outputs:
Sim with check box active: Output is not set.
Sim with check box not active: Output is set in GhostMode
too.
Type Type of output
Standard: The output is defined as a standard output. The
state is retained.
Pulse: The output is defined as a pulse output. The set state
is only maintained for a given time.
Description Long text of the output or input
On the Mapping tab, the defined inputs and outputs as well as the conditions
for manual operation are assigned to the defined switching states.
In order for the switching states as well as inputs and outputs to be available
on this tab, they must be defined on the prior States and IO tab.
Assignments Description
Mapping outputs Setting of outputs for a state
TRUE: The output is set to TRUE.
FALSE: The output is set to FALSE.
[blank]: The output is not set, the current state is retained.
Mapping inputs Evaluation of the inputs for a switching state
TRUE: The input must be set.
FALSE: The input may not be set.
[blank]: The input is not relevant and is not evaluated.
Preconditions for manual For manually setting the switching state, up to 3 preconditions
operation can be defined. The switching state is not set until the defined
preconditions are met.
Input:
Number of the input is defined.
The defined input must be TRUE.
Default: 0
State:
Selection of defined switching states
New switching state is set if the defined switching state is ful-
filled.
Default: [blank]
Function:
Selection of up to 10 different user routines. These can be
programmed in Grp_User.src (R1\TP\GripperSpotTech).
Each condition delivers a return value.
Return value:
TRUE: The switching state is set.
FALSE: The switching state is not set.
Default: [blank]
Description The grippers and parameters can also be configured in WorkVisual. The view
of the tabs matches that of the HMI.
7 Programming
The switching state of the gripper is set via the 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 se-
lected 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
If a state does not exist, an appropriate error strategy can be set.
No Check: The program is continued without checking wheth-
er the switching state exists.
Strategy 1…3: Configured error strategies
The inline form can be used to set a switching state for the gripper at the start
or end point of the motion. The switching state can be delayed or brought for-
ward and/or shifted in space.
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 se-
lected depends on the configuration.
3 Point to which Gripper SYN SET refers:
START: Start point of the motion
END: End point of the motion
PATH: The setting of the switching state refers to the end point
of the motion. An offset in space is also possible.
4 This box is only displayed if PATH is selected.
Distance from the switching point to the end point
-2,000 … +2,000 mm
5 Switching action delay
-1000 … 1000 ms
The time specification is absolute. The switching point varies ac-
cording to the velocity of the robot.
The switching state of the gripper is checked via the 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 se-
lected 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 wheth-
er the switching state exists.
Strategy 1…3: Configured error strategies
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 de-
layed or brought forward and/or shifted in space.
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 se-
lected depends on the configuration.
3 Point to which Gripper SYN CHECK refers
START: Start point of the motion
END: End point of the motion
PATH: The check refers to the end point of the motion. An off-
set in space is additionally possible.
4 This box is only displayed if PATH is selected.
Distance from the switching point to the end point
-2,000 … +2,000 mm
Item Description
5 Negative or positive delay of the check
-1000 … 1000 ms
The time specification is absolute. The time of the check varies ac-
cording to the velocity of the robot.
6 Error strategy
If a state does not exist, an appropriate error strategy can be set.
No Check: The program is continued without checking wheth-
er the switching state exists.
Strategy 1…3: Configured error strategies
Item Description
1 Motion type
PTP, LIN, CIRC
2 Only for CIRC motions: Auxiliary point
The system automatically generates a name. The name can be
overwritten.
3 Name of the end point
The system automatically generates a name. The name can be
overwritten.
Touch the arrow to edit the point data. The corresponding option
window is opened.
(>>> 7.8 "Option window “Frames”" Page 28)
4 Name for the motion data set
The system automatically generates a name. The name can be
overwritten.
Touch the arrow to edit the point data. The corresponding option
window is opened.
(>>> 7.9 "Option window “Motion parameters” (LIN, CIRC, PTP)"
Page 29)
5 Weld gun
1 ... 5
Example of weld gun configuration:
(>>> 8.1 "Example program USERSPOT.SRC" Page 31)
Item Description
6 Retract stroke after the welding operation
OPN: Retract stroke open
CLO: Retract stroke closed
7 Data set with weld parameters
The system automatically generates a name. The name can be
overwritten.
Touch the arrow to edit the point data. The corresponding option
window is opened.
(>>> 7.10 "Option window “Early closing of gun”" Page 30)
(>>> 7.11 "Option window “Parameters for first electrode pair”"
Page 30)
The retract stroke of the weld gun is set via the inline form upon reaching the
end point.
Item Description
1 Motion type
PTP, LIN, CIRC
2 Only for CIRC motions: auxiliary point
The system automatically generates a name. The name can be
overwritten.
3 Name of the end point
The system automatically generates a name. The name can be
overwritten.
Touch the arrow to edit the point data. The corresponding option
window is opened.
(>>> 7.8 "Option window “Frames”" Page 28)
4 Name for the motion data set
The system automatically generates a name. The name can be
overwritten.
Touch the arrow to edit the point data. The corresponding option
window is opened.
(>>> 7.9 "Option window “Motion parameters” (LIN, CIRC, PTP)"
Page 29)
Item Description
5 Retract stroke on reaching the end point
OPN: Retract stroke open
CLO: Retract stroke closed
6 Weld gun
1 ... 5
Example of weld gun configuration:
(>>> 8.1 "Example program USERSPOT.SRC" Page 31)
Item Description
1 Tool selection.
If True in the box External TCP: workpiece selection.
Range of values: [1] … [16]
2 Base selection.
If True in the box External TCP: fixed tool selection.
Range of values: [1] … [32]
3 Interpolation mode
False: The tool is mounted on the mounting flange.
True: The tool is a fixed tool.
4 Collision detection
True: For this motion, the robot controller calculates the axis
torques. These are required for collision detection.
False: For this motion, the robot controller does not calculate
the axis torques. Collision detection is thus not possible for this
motion.
Item Description
1 Acceleration
Refers to the maximum value specified in the machine data. The
maximum value depends on the robot type and the selected oper-
ating mode.
1 … 100%
2 This box is only displayed for LIN and CIRC motions.
Select the orientation control for the TCP.
Default
Wrist PTP
Constant orientation
3 This box is only displayed for CIRC motions.
Select the orientation control for circular motion.
base-related
path-oriented
Item Description
1 The time at which closure of the weld gun commences before the
weld spot is reached (PRESPOT)
-1000 ... 0 ms
Item Description
1 Timer program for first electrode pair
1 … 65535
2 Gun pressure for first electrode pair
1 … 9.9
8 Examples
x
8.1
s
Example program USERSPOT.SRC
Line Description
12 … 25 Assignment of the I/Os to the interface between robot control-
ler (KR C) and weld controller (PLC)
(>>> 8.1.1 "Overview of I/Os – robot controller (KR C) / weld
controller (PLC)" Page 33)
13 Program number: Outputs 1 to 8
15 Activation of retract stroke: Outputs 10 to 11
17 Status of retract stroke: Inputs 10 to 11
19 Activation of working stroke: Outputs 12 to 13
21 Status of working stroke: Inputs 12 to 13
Line Description
23 Weld start: Output 15
25 Weld complete signal: Input 15
28 … 32 Definition of the weld gun switching states:
R_CLO: Retract stroke closed
R_OPN: Retract stroke open
W_CLO: Working stroke closed
W_OPN: Working stroke open
49 ;*****************************
50 DEF ADVSPOT (CMD :IN,S :IN )
51 WLD_STRT=FALSE
52 PNUM=S.PGNO1
53 END ;(ADVSPOT)
54 ;*****************************
55 DEF PRESPOT (CMD :IN,S :IN )
56 GUN_RET=R_CLO
57 WAIT FOR RET_STAT==R_CLO
58 GUN_WRK=W_CLO
59 END ;(PRESPOT)
60 ;*****************************
61 DEF SPOT (CMD :IN,S :IN )
62 WAIT FOR WRK_STAT==W_CLO
63 WLD_STRT=TRUE
64 WAIT FOR WLD_CMP
65 PNUM=0
66 WAIT FOR NOT (WLD_CMP)
67 WLD_STRT=FALSE
68 GUN_WRK=W_OPN
69 WAIT FOR WRK_STAT==W_OPN
70 SWITCH S.RETR
71 CASE #OPN
72 GUN_RET=R_OPN
73 WAIT FOR RET_STAT==R_OPN
74 ENDSWITCH
75 END ;(SPOT)
76 ;*****************************
77 DEF RETRACT (CMD :IN,S :IN )
78 SWITCH S.RETR
79 CASE #OPN
80 GUN_RET=R_OPN
81 WAIT FOR RET_STAT==R_OPN
82 CASE #CLO
83 GUN_RET=R_CLO
84 WAIT FOR RET_STAT==R_CLO
85 ENDSWITCH
86 END ;(RETR)
87 ;*****************************
88 DEF INIT ( )
89 PNUM=0
90 WLD_STRT=FALSE
91 GUN_WRK=W_OPN
92 WAIT FOR WRK_STAT==W_OPN
93 GUN_RET=R_OPN
94 WAIT FOR RET_STAT==R_OPN
95 S_READY=TRUE
96 END ;(INIT)
Line Description
50 … 53 User data for ADVSPOT
51 Reset weld start.
52 Set program number.
55 … 59 User data for PRESPOT
56 Close retract stroke.
57 Wait for “Retract stroke closed”.
58 Close working stroke.
61 … 75 User data for SPOT
62 Wait for “Working stroke closed”.
63 Set weld start.
64 Wait for weld complete signal (TRUE).
65 Set program number to “0”.
66 Wait for weld complete signal (FALSE).
67 Reset weld start.
68 Open working stroke.
69 Wait for “Working stroke open”.
70 … 74 Query which retract stroke has been programmed after the
weld spot.
71 Condition: “RETR OPN” is programmed.
72 Open retract stroke.
73 Wait for “Retract stroke open”.
77 … 86 User data for RETRACT
78 Query which retract stroke has been programmed.
79 Condition 1: “RETR OPN” is programmed.
80 Open retract stroke.
81 Wait for “Retract stroke open”.
82 Condition 2: “RETR CLO” is programmed.
83 Close retract stroke.
84 Wait for “Retract stroke closed”.
88 … 96 User data for INIT
89 Set program number to “0”.
90 Reset weld start.
91 Open working stroke.
92 Wait for “Working stroke open”.
93 Open retract stroke.
94 Wait for “Retract stroke open”.
95 Enable for further program execution
Overview The I/Os in the following overview refer to the example program.
(>>> 8.1 "Example program USERSPOT.SRC" Page 31)
8.1.2 Signal diagram: SPOT without the options RETRACT and PRESPOT
Description 1. The following signals are set simultaneously after point “P1” has been
welded:
The weld complete signal “WLD_CMP=TRUE” triggers, with falling
edge “WLD_CMP=FALSE”, the signal to open the working stroke of
the weld gun (“GUN_WRK=W_OPN”).
The weld start signal is reset (“WLD_STRT=FALSE”).
The weld program number is set to “0” (“PNUM=0”).
2. The robot controller waits for the weld controller signal indicating that the
working stroke of the gun is open (“WRK_STAT=W_OPN”).
3. If no retract stroke or “RETR CLO” has been programmed in the inline
form, the robot motion to weld spot “P2” is enabled when the signal indi-
cating that the working stroke is open is set.
4. To ensure that all required weld data are available at weld spot “P2”, the
weld program number is set while the robot is still moving
(“PNUM=S.PGN01”).
5. At weld spot “P2”, the signal to close the working stroke is set
(“GUN_WRK=W_CLO”).
6. The weld controller signal indicating that the working stroke is closed
(“WRK_STAT=W_CLO”) triggers the weld start (“WLD_STRT=TRUE”).
7. The described sequence starts once again after point “P2” has been weld-
ed.
8.1.3 Signal diagram: SPOT with the options RETRACT and PRESPOT
Description 1. The following signals are set simultaneously after point “P1” has been
welded:
The weld complete signal “WLD_CMP=TRUE” triggers, with falling
edge “WLD_CMP=FALSE”, the signal to open the working stroke of
the weld gun (“GUN_WRK=W_OPN”).
The weld start signal is reset (“WLD_STRT=FALSE”).
The weld program number is set to “0” (“PNUM=0”).
2. The robot controller waits for the weld controller signal indicating that the
working stroke of the gun is open (“WRK_STAT=W_OPN”).
3. If “RETR OPN” has been programmed in the inline form, the signal to open
the retract stroke (“GUN_RET=R_OPN”) is set when the signal indicating
that the working stroke is open is set.
4. The robot controller waits for the weld controller signal indicating that the
retract stroke of the gun is open (“RET_STAT=R_OPN”).
5. The robot motion to weld spot “P2” is enabled when the signal indicating
that the retract stroke is open is set.
6. To ensure that all required weld data are available at weld spot “P2”, the
weld program number is set while the robot is still moving
(“PNUM=S.PGN01”).
7. At weld spot “P2”, the signal to close the retract stroke is set
(“GUN_RET=R_CLO”).
8. The signal to close the working stroke (“GUN_WRK=W_CLO”) is triggered
when the signal indicating that the retract stroke is closed
(“RET_STAT=R_CLO”) is set.
9. The weld controller signal indicating that the working stroke is closed
(“WRK_STAT=W_CLO”) triggers the weld start (“WLD_STRT=TRUE”).
10. The described sequence starts once again after point “P2” has been weld-
ed.
9 Messages
s
9.1
s
Information about the messages
The “Messages” chapter contains selected messages. It does not cover all the
messages displayed in the message window.
Description As a precondition for setting a switching state, an input is defined that is not
TRUE.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Description Establish the basic conditions so that the input is set to TRUE.
Description As a precondition for setting a switching state, an input is defined that is not
TRUE.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Description Signal errors occur because the gripper is not connected correctly.
The procedure for checking whether the gripper is correctly connected
is as follows:
Checking instruc- 1. Check whether the connectors of the cable are connected firmly enough.
tions 2. Check whether pins are bent when connected.
Description Establish correct cabling in accordance with circuit diagram. Exchange the de-
fective cable.
Possible cause(s) Cause: Wait time for reaching the switching state has expired
(>>> Page 40)
Solution: Restart program (>>> Page 41)
Cause: Wait time for reaching the switching state has expired
(>>> Page 41)
Solution: Extend the wait time for the switching state to be fulfilled
(>>> Page 41)
Cause: Wait time for reaching the switching state has expired
(>>> Page 41)
Solution: Correct the configuration on the controller (>>> Page 41)
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Alternative In the status bar, touch the Robot interpreter status indicator. A window
procedure opens.
Select Reset program.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Solution: Extend the wait time for the switching state to be fulfilled
Description In the configuration, extend the wait time for the switching state to be fulfilled.
Procedure Set a different wait time under Configuration > GripperSpotTech > Grip-
per.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Description Signal errors occur because the gripper is not connected correctly.
The procedure for checking whether the gripper is correctly connected
is as follows:
Checking instruc- 1. Check whether the connectors of the cable are connected firmly enough.
tions 2. Check whether pins are bent when connected.
Description Establish correct cabling in accordance with circuit diagram. Exchange the de-
fective cable.
Description As a precondition for setting a switching state, an input is defined that is not
TRUE.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Description Establish the basic conditions so that the input is set to TRUE.
Description As a precondition for setting a switching state, an input is defined that is not
TRUE.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Description In the PLC configuration, it must be ensured that the configuration matches the
configuration of the KR C controller. The configuration must be adapted by the
PLC programmer.
Possible cause(s) Cause: Wait time for reaching the switching state has expired
(>>> Page 44)
Solution: Restart program (>>> Page 45)
Cause: Wait time for reaching the switching state has expired
(>>> Page 45)
Solution: Extend the wait time for the switching state to be fulfilled
(>>> Page 45)
Cause: Wait time for reaching the switching state has expired
(>>> Page 45)
Solution: Correct the configuration on the controller (>>> Page 45)
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Alternative In the status bar, touch the Robot interpreter status indicator. A window
procedure opens.
Select Reset program.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Solution: Extend the wait time for the switching state to be fulfilled
Description In the configuration, extend the wait time for the switching state to be fulfilled.
Procedure Set a different wait time under Configuration > GripperSpotTech > Grip-
per.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Description Signal errors occur because the gripper is not connected correctly.
The procedure for checking whether the gripper is correctly connected
is as follows:
Checking instruc- 1. Check whether the connectors of the cable are connected firmly enough.
tions 2. Check whether pins are bent when connected.
Description Establish correct cabling in accordance with circuit diagram. Exchange the de-
fective cable.
Possible cause(s) Cause: Switching state does not exist (>>> Page 46)
Solution: Restart program (>>> Page 46)
Description As a precondition for setting a switching state, an input is defined that does not
exist.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Alternative In the status bar, touch the Robot interpreter status indicator. A window
procedure opens.
Select Reset program.
Description As a precondition for setting a switching state, an input is defined that does not
exist.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Description Signal errors occur because the gripper is not connected correctly.
The procedure for checking whether the gripper is correctly connected
is as follows:
Checking instruc- 1. Check whether the connectors of the cable are connected firmly enough.
tions 2. Check whether pins are bent when connected.
Description Establish correct cabling in accordance with circuit diagram. Exchange the de-
fective cable.
Possible cause(s) Cause: Wait time for reaching the switching state has expired
(>>> Page 48)
Solution: Restart program (>>> Page 48)
Cause: Wait time for reaching the switching state has expired
(>>> Page 48)
Solution: Extend the wait time for the switching state to be fulfilled
(>>> Page 48)
Cause: Wait time for reaching the switching state has expired
(>>> Page 49)
Solution: Correct the configuration on the controller (>>> Page 49)
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Alternative In the status bar, touch the Robot interpreter status indicator. A window
procedure opens.
Select Reset program.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Solution: Extend the wait time for the switching state to be fulfilled
Description In the configuration, extend the wait time for the switching state to be fulfilled.
Procedure Set a different wait time under Configuration > GripperSpotTech > Grip-
per.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Description Signal errors occur because the gripper is not connected correctly.
The procedure for checking whether the gripper is correctly connected
is as follows:
Checking instruc- 1. Check whether the connectors of the cable are connected firmly enough.
tions 2. Check whether pins are bent when connected.
Description Establish correct cabling in accordance with circuit diagram. Exchange the de-
fective cable.
Possible cause(s) Cause: Wait time for reaching the switching state has expired
(>>> Page 50)
Solution: Restart program (>>> Page 50)
Cause: Wait time for reaching the switching state has expired
(>>> Page 50)
Solution: Extend the wait time for the switching state to be fulfilled
(>>> Page 50)
Cause: Wait time for reaching the switching state has expired
(>>> Page 50)
Solution: Correct the configuration on the controller (>>> Page 51)
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Alternative In the status bar, touch the Robot interpreter status indicator. A window
procedure opens.
Select Reset program.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Solution: Extend the wait time for the switching state to be fulfilled
Description In the configuration, extend the wait time for the switching state to be fulfilled.
Procedure Set a different wait time under Configuration > GripperSpotTech > Grip-
per.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Description Signal errors occur because the gripper is not connected correctly.
The procedure for checking whether the gripper is correctly connected
is as follows:
Checking instruc- 1. Check whether the connectors of the cable are connected firmly enough.
tions 2. Check whether pins are bent when connected.
Description Establish correct cabling in accordance with circuit diagram. Exchange the de-
fective cable.
Possible cause(s) Cause: Wait time for reaching the switching state has expired
(>>> Page 52)
Solution: Restart program (>>> Page 52)
Cause: Wait time for reaching the switching state has expired
(>>> Page 52)
Solution: Extend the wait time for the switching state to be fulfilled
(>>> Page 52)
Cause: Wait time for reaching the switching state has expired
(>>> Page 52)
Solution: Correct the configuration on the controller (>>> Page 53)
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Alternative In the status bar, touch the Robot interpreter status indicator. A window
procedure opens.
Select Reset program.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Solution: Extend the wait time for the switching state to be fulfilled
Description In the configuration, extend the wait time for the switching state to be fulfilled.
Procedure Set a different wait time under Configuration > GripperSpotTech > Grip-
per.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Description Signal errors occur because the gripper is not connected correctly.
The procedure for checking whether the gripper is correctly connected
is as follows:
Checking instruc- 1. Check whether the connectors of the cable are connected firmly enough.
tions 2. Check whether pins are bent when connected.
Description Establish correct cabling in accordance with circuit diagram. Exchange the de-
fective cable.
Possible cause(s) Cause: Wait time for reaching the switching state has expired
(>>> Page 53)
Solution: Restart program (>>> Page 54)
Cause: Wait time for reaching the switching state has expired
(>>> Page 54)
Solution: Extend the wait time for the switching state to be fulfilled
(>>> Page 54)
Cause: Wait time for reaching the switching state has expired
(>>> Page 54)
Solution: Correct the configuration on the controller (>>> Page 54)
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Alternative In the status bar, touch the Robot interpreter status indicator. A window
procedure opens.
Select Reset program.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Solution: Extend the wait time for the switching state to be fulfilled
Description In the configuration, extend the wait time for the switching state to be fulfilled.
Procedure Set a different wait time under Configuration > GripperSpotTech > Grip-
per.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Description Signal errors occur because the gripper is not connected correctly.
The procedure for checking whether the gripper is correctly connected
is as follows:
Checking instruc- 1. Check whether the connectors of the cable are connected firmly enough.
tions 2. Check whether pins are bent when connected.
Description Establish correct cabling in accordance with circuit diagram. Exchange the de-
fective cable.
Possible cause(s) Cause: Wait time for reaching the switching state has expired
(>>> Page 55)
Solution: Restart program (>>> Page 55)
Cause: Wait time for reaching the switching state has expired
(>>> Page 56)
Solution: Extend the wait time for the switching state to be fulfilled
(>>> Page 56)
Cause: Wait time for reaching the switching state has expired
(>>> Page 56)
Solution: Correct the configuration on the controller (>>> Page 56)
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Alternative In the status bar, touch the Robot interpreter status indicator. A window
procedure opens.
Select Reset program.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
Solution: Extend the wait time for the switching state to be fulfilled
Description In the configuration, extend the wait time for the switching state to be fulfilled.
Procedure Set a different wait time under Configuration > GripperSpotTech > Grip-
per.
Cause: Wait time for reaching the switching state has expired
Description The configured wait time for reaching the switching state has expired.
The program is stopped because the switching state does not exist, and the
configured error strategy detects this.
The procedure for checking which preconditions are configured is as
follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Possible cause(s) Cause: Configuration or programming is not correct (>>> Page 57)
Solution: Correct the configuration on the controller (>>> Page 57)
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Possible cause(s) Cause: Configuration or programming is not correct (>>> Page 57)
Solution: Correct the configuration on the controller (>>> Page 57)
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Possible cause(s) Cause: Configuration or programming is not correct (>>> Page 58)
Solution: Correct the configuration on the controller (>>> Page 58)
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Possible cause(s) Cause: Configuration or programming is not correct (>>> Page 58)
Solution: Correct the configuration on the controller (>>> Page 58)
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
Description The switching state cannot be set because the gripper is not active.
The procedure for checking whether the gripper is active is as follows:
Checking instruc- Check the settings under Configuration > GripperSpotTech > Gripper.
tions
This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.
10 KUKA Service
A
Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.
Index
C S
Collision detection 28 Safety 9
Configuration 17 Safety instructions 5
Configuration, overview 17 Service, KUKA Roboter GmbH 61
Signal diagram, SPOT with RETRACT 37
D Signal diagram, SPOT without RETRACT 35
Documentation, industrial robot 5 SPOT 6
SPOT, inline form 26
E Status keys 14
Examples 31 Support request 61
G T
GhostMode 6 Terms used 6
Gripper CHECK, inline form 24 Terms, used 6
Gripper SET, inline form 23 Training 5
Gripper SYN CHECK, inline form 25
Gripper SYN SET, inline form 24 U
Grippers 13 Uninstallation, GripperSpotTech 11
GUN_RET (signal) 34 Update, GripperSpotTech 11
GUN_WRK (signal) 34 Use, intended 7
USERSPOT.SRC, example 31
I
Inline forms, overview 23 W
Installation 11 Warnings 5
Installation, GripperSpotTech 11 Weld guns 7
Intended use 7 WLD_CMP (signal) 34
Interpolation mode 28 WLD_STRT (signal) 33
Introduction 5 Working stroke 6
WRK_STAT (signal) 34
K
KUKA Customer Support 61
M
Menus 13
Messages 39
O
Operation 13
Orientation control, circular motion 29
Orientation control, TCP 29
P
PNUM (signal) 33
PRESPOT 6, 30
Product description 7
Programming 23
Programming, Gripper CHECK 24
Programming, Gripper SET 23
Programming, Gripper SYN CHECK 25
Programming, Gripper SYN SET 24
Programming, RETRACT 27
Programming, SPOT 26
R
RET_STAT (signal) 34
RETRACT 6
Retract stroke 6
RETRACT, inline form 27