You have to use an OUT statement to trigger the grasp and/or release of an object. By default, outputs 1-16 in the KUKA robot can be used: True value grasps, and False value releases. When signaling grasp action, a volume is created to detect a component in the 3D world to attach to the robot. The volume is defined using tool frame of robot mapped to the output signal.

必须使用OUT语句来触发对象的抓取和/或释放。默认情况下，KUKA机器人的输出端口1-16，:True值抓取，False值释放。当信号捕捉动作时，在3D世界中，创建一个volume附加到机器人上来检测组件。使用映射到输出信号的机器人工具框架定义 来定义Volume。

If you select the robot as a component, and then go to Component Properties panel, you should see an Actions Configuration section near the bottom of the panel. That is where you can configure the actions using outputs, e.g. modify the dimensions of volume for detecting part.