Configuration KUKR System Software 86 6.24 If not all parameters of BACKWARD_STEP are listed, the default values, are valid for those that are not listed IT BACKWARD_STEP is removed from KreConfig.XML again, the default values are valid for all parameters again Parameter _| Description/default ENABLE — | Type: BOOL. + TRUE (= default): activated, ie, backward motion us- ing the Start backwards key is possible + FALSE deactivated, ie. backward motion using the Start backwards key is not possible MOVE- Type: INT MENTS Maximum number of motions recorded for backward mo- tion + 0... 60 (default = 30) BACK- Type: BOOL WARD_WAR NING + TRUE: The robot controller generates the following message when the Start backwards key is pressed for the first time after forward motion: Caution! Robot is moving backwards. The user must acknowledge the message and press the Start backwards key again +_FALSE (= default): No message Configuring Automatic External Description Overview 2521687 ww kuka.com If robot processes are to be controlled centrally by a higher-level controller (e.g. a PLC), this is carried out using the Automatic Extemal interface The higher-level controller transmits the signals for the robot processes (e.g, fault acknowledgment, program start, etc.) to the robot controller via the Aulomatic Extemal interface. The robot controller transmits information about operating states and fault states to the higher-level controller. To enable use of the Automatic External interface, the following configura- tions must be carried out ‘Step [Description 1 Configuration of the CELL SRC program (> 6.24.1 "Configuring CELL.SRC" Page 253) 2 Configuration of the inputs/outputs of the Automatic Ex: temal interface (© 6.21.2 "Configuring Automatic External inputs! outputs" Page 254) 3 ‘Only if error numbers are to be transmitied to the higher- level contraller: configuration of the POO.DAT file @ 6.21.6 "Transmitting error numbers to the higher-lev- el controller” Page 270) KS8 86 SI V5 | Issued 2012KUKA System Sofware 6.21.1 Configuring CELL.SRC Description In Automatic External mode, programs are called using the program CELL SRC. Program TeF cent 00% DERAULT AUTCEX? INT fT, DHL 4 u GND, #PGNO_ACRN, DML 7 ail User-Progzam 18 19 NO_ACRN, DML all User-Progran - eO_ACRN, DML ail User-Progran 2 FAULT 8 POO. (#EKT_PGNO, #PGHO_ FAULT, DMYL], U 4 ITCH Line Description 12 The robot controller calls the program number fom the higher-level controller 5 ‘CASE branch for program number 16 Receipt of program number 1 is communicated to the high- er-level controller a7 The user-defined program EXAMPLET is called, 2 DEFAULT = the program number is invalid 26 Error treatment in the case of an invalid pragram number Precondition + User rights: Function group Critical KRL program changes Procedure 1. Open the program CELL.SRC in the Navigator. (This program is loca- ted in the folder "R1") 85 86 SI VS | Issued 20 122% wauekuka.com | 25: ConfigurationConfiguration KUKR System Software 86 2. Inthe section CASE 1, replace the name EXAMPLE1 with the name of the program that is to be called via program number 1 semicolon in front of the name Delete the 16 Fo CASE 2 18e7_PGH, APSNO (2ROGREN, { ACKN, BY 0 } Call User-Progran 3. For all further programs, proceed as described in step 2. If required, add additional CASE branches. 4. Clase the program CELL.SRC. Respond to the request for confirma- tion asking whether the changes should be saved with Yes. 6.21.2 Configuring Automatic External inputs/outputs Procedure 1. In the main menu, select Configuration > Inputs/outputs > Automat- ic External 2. In the Value column, select the cell to be edited and press Edit, 3. Enter the desired value and save it by pressing OK. 4. Repeat steps 2 and 3 for all values to be edited. 5. Close the window. The changes are saved. Description 2 proerrme. reactor 3 arweth prograrmo. 4 | Fst bt progemne. 5 Paty be 6 Poon. vat 7 Programe 3 Move erable 9 Eror confrmation Powo_paRtTY Pawo VALID SEXT_START SMOVE_EUABLE SONF_MESS SORIVES_OFF SORIVES_ON sLoAcr Fig. 6-21: Configuring Automatic External inputs 254687 | www kuka.com 1025 1026 105 “0 1025 KSS 86 SI YS | Issued 20 1220'9KUKA System Sofware [ON 2 Am soo active = NTO 1B | User ety sec coset 2 oe am 4 | Dnves ready er amie 35 | Robot calbated 2 oe 1001 Interface ate mR Crone 0 77 | Ero colecton a UOMess 1010 ) rece fr orome. rectory POOR 1 tera emergency stop Pd Fig. 6-22: Configuring Automatic External outputs Item |Description 1 [Number 2_[[Long text name of the inputioutput 3 [Type * Green: Input/output + Yellow. variable or system variable (S..) Name of the signal or variable input/output number or ¢ 6 _| The outputs are thematically assigned to tabs annel number 6.21.3 Automatic External: inputs 6.2.3.1 PGNO_TYPE Description Variable for configuring the “Automatic Extemal’ interface This variable defines the format in which the program number sent by the higher-level controller is read Writability ‘The variable can be modified in the following way Via the variable display + OF via Configuration > Inputs/outputs > Automatic External 85 86 SI VS | Issued 20 122% wwe kuka.com | 25 ConfigurationConfiguration KUKR System Software 86 Syntax Pono_TyPR = Format Explanation of the syntax Examples 6.21.3.2 Description Writability Syntax 2561697 | www.kuka.com KSS 86 SIVS | Issued 2012 Element [Description Format Type: INT +4 (Gefault): binary number The program number is transmitted by the higher-lev- el controller as binary coded integer + 2.BCD value The program number is transmitted by the higher-lev- el controller as a binary coded decimal + 31 ofN The program number is transmitted by the higher-lev- el controller or the periphery as a “1 of n’ coded val ue Note: When using this format, the values of PGNO_REQ, PGNO_PARITY and PGNO_VALID are not evaluated and are thus of no significance. Example 1: 9.010011 1 => Program number = 39 oo100114 Example 3: OTYPE = 3 00000004 => Program number = 1 00001000 => Program number Program number = 27 REFLECT_PROG_NR Variable for configuring the "Automatic External” interface The variable defines whether the program number that the robot controller receives from the higher-level controller is mirrored to a range of outputs, The range starts with the output defined by PGNO_FBIT_REFL. ‘The variable can be modified in the following way Via the variable display Or via Configuration > Inputs/outputs > Automatic External = StatusKUKA System Sofware Explanation of the syntax Element ‘Status Type: INT + 0 (efaull): mirroring is switched of. +4: mirroring is switched on 6.21.33 PGNO_LENGTH Description Variable for configuring the "Automatic Extemal’ interface Number of bits in the program number sent by the higher-level controller Writability ‘The variable can be modified in the following way Via the variable display + Or via Configuration > Inputs/outputs > Automatic External Syntax PeNO_LaNGPH = Length Explanation of the syntax Element [Description Length Type: INT + 4... 16: the number of bits in the program number sent by the higher-level controller Default: & Note: It PGNO_TYPE has the value 2, only 4, 8, 12 and 16 are permissible values for the number of bits. 6.21.34 PGNO_FBIT Description Variable for configuring the "Automatic Extemal’ interface ‘The variable specifies the input that receives the first bi of the program number transferred by the higher-level controller. Writability The variable can be modified in the following way + Via the variable display + Or via Configuration > Inputs/outputs > Automatic External Syntax Pane FRT? = Input_aumber 85 86 SI VS | Issued 20 122% wwe kuka.com | 25 ConfigurationConfiguration KUKR System Software 86 Explanation of the syntax Element Tnput_num ber Type: INT + 4... 8192: input that receives the first bit of the pro- gram number sent by the higher-level controller Default: 33 Example PGNO_FBIT = SINS} 6.21.35 PGNO_PARITY 5 => the external program number begins with the input Variable for configuring the "Automatic External” interface The variable specifies the input to which the parity bit is sent by the high- ‘The variable can be modified in the following way + Or via Configuration > Inputs/outputs > Automatic External Description er-level controller Writability + Via the variable display Syntax Pawo Explanation of the syntax ory = Input_number Element |Description Tnput_num- | Type: INT er + 4. 8192: input to which the parity bit is sent by the higher-level controler Default: 41 Note: If PENO_TYPE has the value 3, PENO_PARITY is not evaluated Input Funetion Negative value _| Odd parity @ No evaluation Positive value | Even parity (© 6.21.4 "Odd / even parity” Page 262 6.21.36 PGNO_VALID Description Variable for configuring the "Automatic Extemal’ interface The variable specifies the input to which the command for reading the program number trom the higher-level controller is sent. 2581697 | www.kuka.com KS8 86 SI V5 | Issued 2012KUKA System Sofware Writability ‘The variable can be modified in the following way Via the variable display + OF via Configuration > Inputs/outputs > Automatic External Syntax ps 19 = Input_number Explanation of the syntax Element __ |Description input_num-— | Type: INT ber + 4... 8192: input to which the command to read the program number from the higher-level controller is, sent Default: 42 Note: if PGNO_TYPE has the value 3, PGNO_VALID is not evaluated Input Function Negative value | Number is transferred at the falling edge of the sig- nal 0 ‘Number is transferred at the rising edge of the signal on the EXT_START line. Positive value | Number is transferred at the rising edge of the signal 6.21.3.7 SEXT_START Description Signal deciaration for the extemal program start If the Automatic External interface is active (S|_O_ACTCONF is TRUE), this input can be set by the higher-level controller to start or continue @ program. i ‘Only the rising edge of the signal is evaluated Syntax FAT_START S71 Input number) Explanation of the syntax Element [Description put num-— | Type: INT ber Default: 1026 6.21.38 SMOVE_ENABLE Description Signal declaration for motion enable This input is used by the higher-level cantroller to check the robot drives. 85 86 SI VS | Issued 20 122% wauekuka.com | 25 ConfigurationConfiguration KUKR System Software 86 + If the higher-level controller sets the inpul to TRUE, the robot can be moved manually and in program mode. + Ifthe input is set to FALSE. the drives are switched off and the active commands are inhibited (ms if the drives have been switched off by the higher-level controler. the message General motion enable is displayed. It is only possible to move the robot again once this message has been acknowledged and an external start signal (SEXT_START) has been given, Syntax Explanation of the syntax S10 input number) Element |Description Tnput num- | Type: INT per Default: 1025 6.21.39 SCHCK_MOVENA Description Check the input number of SMOVE_ENABLE in Automatic External mode The vatiable SMOVE_ENABLE is used by the higher-level controller to check the robot drives. precondition is that a suitable input number (<> SIN[1025)) has been assigned to the signal SMOVE_ENABLE. This is checked with SCHCK_MOVENA. Background: by default, SIN[1025] is a system input which is always TRUE. Consequently. this input must not be allocated to the system varia- ble SMOVE_ENABLE as this would mean that the motion enable would be issued on a permanent basis syntax CHCK_OVENa#State Explanation of the syntax Element [Description Status Type: BOOL + TRUE: §MOVE_ENABLE is checked, + FALSE: SMOVE_ENABLE is not checked Default: TRUE 6.21.3.10 SCONF_MESS Description Signal declaration for the external acknowledgement of messages If the Automatic External interface is active ($|_O_ACT is TRUE), this in- put can be set by the higher-level controller to acknowledge an error mes- sage as soon as the cause of the error has been eliminated i Only the rising edge of the signal is evaluated 2601697 | www.kuka.com KS8 86 SI V5 | Issued 2012KUKA System Sofware Syntax = MESS STM Unput number Explanation of the syntax Element |Description Tnput num-| Type: INT ber Default: 1026 6.21.3.11 SDRIVES_OFF Description Signal declaration for switching off the drives If there is a LOVWevel pulse of at least 20 ms duration at this input, the higher-level controller switches off the robot drives Syntax 1 _OFF $1 Input number) Explanation of the syntax Element Input num ber Default: 1025 6.21.3.12 SDRIVES_ON Description Signal declaration for switching on the drives If there is @ HIGH-level pulse of at least 20 ms duration at this input, the higher-level controller switches on the robot drives, Syntax BS_oN STM Input number, Explanation of the syntax Element [Description Input num-— | Type: INT ber Default: 140 6.21.3.13 SI_O_ACT Description Signal declaration for the Automatic External interface If this input is set, the Automatic External interface is active Syntax IGMAL $1 9 AC’ $121 (Input number) 85 86 SI VS | Issued 20 122% wwe kuka.com | 26 ConfigurationExplanation of the syntax Element Input num-— | Type: INT ber Default: 1025 6.21.4 Odd / even parity Description equence and has a checking ntains an even A parity bit is a bit which is added to a bit 's whether the bit sequen: ire data block — consisting of the bit s and the parity bit en sferred and the parity bit then no longer matches the sequence, an error fas occurred during transfer. the relevant bit value (‘even’ or “odd") depends on the rity protocol: “even parity” or rity Even parity Even parity The sum of the ones in the entire data bl + parity bit) must be even ‘Sum of ones in the bit sequence Parity bit Even 0 Gad 1 Bit sequence Parity bit 011.1010 0 1070.0100 1 Odd parity Odd parity The sum of the o nc bit) must be odd ‘Sum of ones in the bit sequence Parity bit Even 1 ‘Oud 0 Bit sequence Parity bit 0 2620687 | www. kuka.com issued 2012208KUKA System Sofware 86 6.21.5 Automatic External: outputs 6.21.51 $RC_RDY1 Description Signal declaration for operational robot controller If the robot controller sets this output, itis ready for operation and the pro- gram can be started by the higher-level contraller. Syntax Output number] Explanation of the syntax Element | Description ‘Output nun | Type: INT ber Default: 137 6.2.5.2 SALARM_STOP Description Signal declaration for he EMERGENCY STOP, There is no EMERGENCY STOP if this output is TRUE. In the event of an EMERGENCY STOP, the robot contraller sets the output to FALSE, ‘The output is set to FALSE in the following EMERGENCY STOP situa- tions: For an EMERGENCY STOP via the EMERGENCY STOP device on the smartPAD + For an EMERGENCY STOP via the extemal EMERGENCY STOP de- vice Syntax ur (Output number] Explanation of the syntax Element | Description ‘Output nun | Type: INT ber Default: 1013 in the case of an EMERGENCY STOP, the type of EMERGENCY STOP ‘can be recognized from the states of the outputs and + Both outputs are FALSE: the EMERGENCY STOP was triggered on the smartPAD. SALARML_STOP is FALSE, SALARM_STOP_INTERN is TRUE: ex temal EMERGENCY STOP. (ms 86 SI V5 | Issued 20.12 2010 warwekuka.com | 263/697 ConfigurationConfiguration KUKR System Software 86 6.21.53 SUSER_SAF Description Signal declaration for the safety fence monitoring This output is reset if the safely fence monitoring switch is opened (AUT mode) or an enabling switch is released (T1 or T2 mode). Syntax 5R SAP SOUT Output number) Explanation of the syntax Element |Description ‘Output num- | Type: INT ber Default: 4041 6.21.5.4 SPERILRDY Description Signal declaration for Drives ON By setting this output, the robot controller communicates to the higher-lev- cl controller the fact that the intermediate circuit is fully charged and that the robot drives are ready. Syntax T RDY SOUT Output number) Explanation of the syntax Element | Description Output num | Type: INT ber Default: 1012 6.21.55 SROB_CAL Description Signal declaration for robot mastering This output is set whenever all robot axes are mastered, The output is re- sel as soon as a robot axis has been unmastered Syntax 2 SOUT [Output numbe Explanation of the syntax Element |Description Oulpul num | Type: INT ber Default: 1001 2641697 | www.kuka.com KSS 86 SIVS | Issued 2012KUKA System Sofware 6.21.5.6 $I_O_ACTCONF Description Signal declaration for the active Automatic External interface This output is set if Automatic Extemal mode is selected and the Automal- ic External interface is active (input SI_O_ACT is TRUE). The higher-level controller can start @ program. Syntax TCONP SOUT Output number Explanation of the syntax Element |Description Oulpul num | Type: INT ber Default: 140 6.21.5.7 SSTOPMESS Description Signal declaration for stop messages This output is set in order to communicate to the higher-level controller the occurrence of any message that required the robot to be stopped. For example, after an EMERGENCY STOP or operator safety violation Syntax IGNAL $STO2MBSS SoUY [Output number] Explanation of the syntax Element | Description ‘Output num- | Type: INT ber Default: 1010 6.21.58 PGNO_FBIT_REFL Description Variable for configuring the "Automatic Extemal” interface The variable specifies the output to which the first bit of the program num- ber is mirrored. A precondition for the program number to be mirrored at all is REFLECT_PROG_NR = 1 ‘The size of the output range depends on the number of bits defining the program number (PGNO_LENGTH), It program selected by the PLC is deselected by the user, the output range starting with PGNO_FBIT_REFL is set to FALSE. In this way. the PLC can prevent a program from being restarted manually. PGNO_FBIT_REFL is also set to FALSE if the interpreter is located in the CELL program. Writability The variable can be modified in the following way: 85 86 SI VS | Issued 20 122% wauekuka.com | 26 ConfigurationConfiguration KUKR System Software 86 Syntax Via the variable display Or via Configuration > Inputs/outputs > Automatic External PGHO_| = Output_number Explanation of the syntax 6.21.5.9 Description Syntax Element Description ‘Ouitput_nuin- | Type: INT ber + 4... 8192: output representing the first bit of the pro- gram number transferred by the higher-level controller Default: 999 SALARM_STOP_INTERN Signal declaration for the intemal EMERGENCY STOP There is no internal EMERGENCY STOP if this output is TRUE. In the event of an internal EMERGENCY STOP, the robot controller sets the out- put to FALSE. XL SALA wT (Output number} Explanation of the syntax Element Output num ber Default: 1002 (ms in the case of an EMERGENCY STOP, the type of EMERGENCY STOP ‘can be recognized from the states of the outputs and + Both outputs are FALSE: the EMERGENCY STOP was triggered on the smartPAD SALARMLSTOP is FALSE, SALARM_STOP_INTERN is TRUE: ex teal EMERGENCY STOP. 6.21.5.10 SPRO_ACT Description 2661697 | www.kuka.com Signal declaration for active process This output is set whenever a process is active at robot level. The proc- ess is therefore active as long as @ program or an interrupt is being pro- cessed. Program processing is set to the inactive state at the end of the program only after all pulse outputs and all triggers have been pracessed In the event of an error stop, a distinction must be made between the fol- lowing possibilities: + If interrupts have been activated but not processed at the time of the error stop, the process is regarded as inactive (SPRO_ACT=FALSE) KS8 86 SI V5 | Issued 2012KUKA System Sofware + I interrupts have been activated and processed at the time of the er- ror stop, the process is regarded as active (SPRO_ACT=TRUE) until the interrupt program is completed or a STOP occurs in it (SPRO_ACT=FALSE). + If interrupts have been activated and a STOP occurs in the program, the process is regarded as inactive (SPRO_ACT=FALSE). If, after this, an interrupt condition is met, the process iS regarded as active (SPRO_ACT=TRUE) until the interrupt program is completed or a STOP occurs in it (SPRO_ACT=FALSE) Syntax ACT $ou'T Output number) Explanation of the syntax Element |Description Oulpul num | Type: INT ber Default: 1024 6.21.5.11 PGNO_REQ Description Variable for configuring the "Automatic Extemal’ interface ‘The variable specifies an output. A change of signal at this output re- quests the higher-level controller to send a program number Writability ‘The variable can be modified in the following way Via the variable display + Or via Configuration > Inputs/outputs > Automatic External Syntax = Output_number Explanation of the syntax Element |Description ‘Output_nuin- | Type: INT ber + 4... 8192 change of signal al this outout requests the higher-level controller to send @ program number Default: 33 Note: if PGNO_TYPE has the value 3, PGNO_REQ is not evaluated 6.21.5.12 APPL_RUN Description Variable for configuring the "Automatic Extemal’ interface The variable specifies an output. By setting this output, the robot controller ‘communicates to the higher-level controller the fact that a program is rently being executed 85 86 SI VS | Issued 20 122% wavekuka.com | 26 ConfigurationConfiguration KUKR System Software 86 Writability ‘The variable can be modified in the following way Via the variable display + OF via Configuration > Inputs/outputs > Automatic External Syntax APPL RUN = Oufput_number Explanation of the syntax Element | Description ‘Output_num- | Type: INT ber + 4... 8192: by setting this output, the robot controller communicates to the higher-level controller the fact that program is currently being executed. Default: 34 6.21.5.13 SPRO_MOVE Description Signal declaration for active program motion This output is set whenever a synchronous axis moves (also in jog mode) The signal is thus the inverse of SROB_STOPPED. Syntax NOV. SOUT {Output number] Explanation of the syntax Element _ |Description Output num | Type: INT er Default: 1022 6.21.5.14 SIN_HOME Description Signal declaration for reaching the HOME position The variable $4_POS defines the HOME position of the robot in the ma- chine data. By setting the output, the robot controller communicates to the higher-level controller that the robot is located in its HOME position Syntax © Sou Output number] Explanation of the syntax Element | Description ‘Output num- | Type: INT ber Default: 1000 2681697 | www.kuka.com KSS 86 SIVS | Issued 2012KUKA System Sofware 6.21.5.15 SIN_HOME1 ... SIN_HOMES Description Signal declaration for reaching HOME position 1. § The variable $AXIS_HOME allows up to 5 HOME positions to be defined in Smachine dat under KRC:ARiMada (in addition to the HOME position defined using SH_POS) By setting the output SIN_HOMEx, the robot controller communicates to the higher-level cantroller that the robot is located in HOME position x (1... 5) Syntax Default in Smachine dat under KRCASTEUMada 1. 9T3_HoMRindex BALSE To link an output to an SIN_HOME, make the following adaptation’ IAL. $1_HOMFIndex Sour’ (Output number] Explanation of the syntax Element [Description index Type: INT Index of the HOME position Output num ber 6.21.5.16 SON_PATH Description Signal declaration for monitoring of the programmed path This output is set after the BCO run. The robot controller thus communi- cates to the higher-level controller that the robot is located on the pro- grammed path. The output is reset again only if the robat leaves the path the program is reset or block selection is carried out Syntax S0UT [Output number} Explanation of the syntax Element |Description ‘Output num- | Type: INT ber Default: 997 6.21.5.17 SNEAR_POSRET Description Signal declaration for the tolerance window about SPOS_RET By setting the output, the robot controller communicates to the higher-level ‘controller that the robot is located within a sphere about the position 85 86 SI VS | Issued 20 122% wauekuka.com | 26 ConfigurationConfiguration KUKR System Software 86 saved in SPOS_RET. The higher-level controller can use this information to decide whether or not the program may be restarted The user can define the radius of the sphere in the fle Scustom.dat using the variable SNEARPATHTOL. Syntax PP SOUT [Output number) Explanation of the syntax Element _ |Description Oulput num | Type: INT ber Default: 147 6.21.5.18 SROB_STOPPED Description Signal declaration for robot standstil This output is set when the robot is at a standstill In the event of a WAIT statement, this output is set during the wait, The signal is thus the inverse of SPRO_MOVE, Syntax SPPED SOUT (Output number) Explanation of the syntax Element |Description Output num | Type: INT ber Default: 1023, 6.21.6 Transmitting error numbers to the higher-level controller Error numbers of the robot controller in the range 1 to 255 can be trans- mitted to the higher-level controller. To transmit the errar numbers, the file PO0.DAT, in the directory C’\KRC\ROBOTER'KRCIRI\TP, must be config- ured as follows our 2,PXG{] "POO",=RR 10) 2701697 | www.kuka.com KSS 86 SIVS | Issued 2012KUKA System Sofware RR_FILE[64)=(P(] Description PLC_ENABLE must be TRUE, Enter the number of controller errors for the transmission of which parameters are to be defined. Enter the number of application errors for the transmission of which parameters are to be defined Specify which robot controller outputs the higher-level con- troller should use to read the error numbers. There must be 8 outputs. 3 In the following section, enter the parameters of the errors. P[i] ... P[127]: range for application errors P[128)_.. P[255]: range for controller errors 26 Example of parameters for application errors: + QUT 2 = error number 2 + PKG[] "P00" = technology package + ERR 10 = error number in the selected technology package 30 Example of parameters for controller errors: + OUT 128 = error number 128 + PKGI) "CTL" = technology package + ERR 1 = error number in the selected technology pack- age 96 The last 64 errors that have occurred are stored in the ERR_FILE memory. 6 S1¥5 | Issued 20 122% awe kuka.com | 27 ConfigurationConfiguration KUKR System Software 86 6.21.7 Signal diagrams Fig, 6-23: Automatic system start and normal operation with program number acknowl- edgement by means of PGNO_VALID 272687 | www kuka.com KSS 86 SI YS | Issued 20 1220'9KUKA System Sofware 86 Fig, 6-24: Automatic system start and normal operation with program number acknowl- edgement by means of SEXT_START KSS 86 SI YS | lssued 20 1220'S wawekuka.com | 273/697 ConfigurationConfiguration KUKR System Software 86 Restart after dynamic braking (operator safety and restart) 274687 | www kuka.com KSS 86 SI YS | Issued 20 1220'9KUKA System Sofware 86 Braking ame, : Restart after path-maintaining EMERGENCY STOP KSS 86 SI YS | lssued 20 1220'S wawekuka.com | 275/697 ConfigurationConfiguration KUKR System Software 86 Fig, 6-27: Restart after motion enable 276687 | www kuka.com KSS 86 SI YS | Issued 20 1220'9KUKA System Sofware 86 KSS 86 SI YS | lssued 20 1220'S wwe kuka.com | 27 Configuration