I made those layouts in VC 4.2.2 in a few minutes. With KUKA Sim 3.1, it is based on VC 4.1, so that’s why you get the message in Output panel.
Not to worry. I just got back from vacation, so you are helping me, and I have KS 3.1.2 on my own PC. If I load the layouts in KS 3.1, the program is empty in Job Map because the VC program uses VC statements not KRL/KUKA statements.
In KS 3.1.2, first thing I did was exchange the robot in layout with robot from KUKA eCatalog because that robot has RCS and additional properties. Exchanging took care of mapping the tool frames and base frames and signal connections for me.
Next, I recreated the VC program using the Job Map. Not that difficult since it is same program just different statement types, so it is easy to teach. Note that I could have used vcStatement KRL API to quickly convert from KUKA to VC statements and vice-versa, but teaching is rather quick.
Here are the same layouts made in KS 3.1.2.
Layout - Test External Gripper in KS 3.1.2.vcmx (1.3 MB)
Layout - Test External Gripper ceiling mount in KS 3.1.2.vcmx (1.3 MB)
Layout - Test External Gripper wall mount in KS 3.1.2.vcmx (1.3 MB)
Static container = container, e.g. pallet or box.
Dynamic container = path, e.g. conveyor.
So if you are placing a part in a box, it is expected that the part should stay at the placed location. If the container is in a node that can move, for example a link with a joint, or the node is moved, the part is moved because part is attached to container and container is attached to node, i.e. parent-child hierarchy.
Attached is same layout but my external gripper uses a OneWayPath instead of ComponentContainer. The path has the property to retain offset of part, but by default the part is snapped to the interpolated path. The part still moves when the axis of gripper is rotated because the path is a behavior in node that is attached to Link_1, a node with a rotational degree of freedom around Z-axis.
Layout - Test External Gripper in KS 3.1.2 with Dynamic Container.vcmx (1.3 MB)