This How-To is intended for Robotiq 2-Finger Gripper 3.X.X and Universal Controller K4 with Ethernet IP.Here is How to design an easy to use interface and integrate a Robotiq gripper to Kuka robots using the KR C4 controller.This is how it looks like in the Kuka HMI:The 4 bottom left keys can be configured to use multiple grippers or changing output signals.With adaptive gripper bottom key is use to jog gripper in closing direction (default speed can be set up in program). Which means gripper will start closing as long as you have the key pressed and if key is released it will stop moving. Second key from bottom act the same but in opening direction.Other two keys can be used to switch between grippers (e.g. if more than 1 grippers are used). The icons can be changed and text can be added below or above of the icon to make it more readable.To use Robotiq gripper in in-line form first, it has to be selected. Then parameters need to be specified as shown below:Position is in mm, force and speed are in percentage. The files scales both parameter into percentage (1-100%) for the ease of use.For all the details, get the PDF HERE (source Kuka Robotics).Any question or comment, feel free to write them below!