Good morning to everyone.
I'm facing with kuka KRC4 and TMO standard (for BMW). I would like to ask, whether someone of you knows how to program special functions for gripper (drucklos/ pressureless) which can be operated by function buttons on the left side of the panel. Currently I put responsible signals in FOLD, and with such sequence I'm able to switch the gripper to desired status (all clamps should be without status and then I have to enable pressureless valve). It is working well, bit is not convinient enough. I would like to map such sequence under shortcut button. After small research of the TMO manual, I know that this should be a SPECIAL macro, which should be placed in a grp file, but is not mentioned in which :D. My guess is that a03_grp_special.src is responsible for the special files. That was the first question, the second one is - do you maybe know how look such macro? I'm not able to find any template, or example.
I would be grateful for help, tips or comments ;D
Greetings Mike