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库卡8.3系统变量手册.pdf
System Variables
1 Introduction
1.1 Target group
1.2 Industrial robot documentation
1.3 Representation of warnings and notes
1.4 Terms used
2 Safety
3 System variables
3.1 $ABS_ACCUR
3.2 $ABS_RELOAD
3.3 $ABS_UPDATE
3.4 $ACC
3.5 $ACC_C
3.6 $ACC_AXIS
3.7 $ACC_AXIS_C
3.8 $ACC_CAR_ACT
3.9 $ACC_CAR_MAX
3.10 $ACC_EXTAX
3.11 $ACC_EXTAX_C
3.12 $ACCU_STATE
3.13 $ACT_ADVANCE
3.14 $ADVANCE
3.15 $ACT_EX_AX
3.16 $ACT_BASE
3.17 $ACT_BASE_C
3.18 $ACT_TOOL
3.19 $ACT_TOOL_C
3.20 $ANIN
3.21 $ANOUT
3.22 $APO
3.23 $APO_C
3.24 $ASYNC_AXIS
3.25 $ASYNC_EX_AX_DECOUPLE
3.26 $ASYNC_FLT
3.27 $ASYNC_STATE
3.28 $AXIS_ACT
3.29 $AXIS_ACT_MEAS
3.30 $AXIS_BACK
3.31 $AXIS_FOR
3.32 $AXIS_INT
3.33 $AXIS_MOT
3.34 $AXIS_RET
3.35 $B_IN
3.36 $B_OUT
3.37 $BASE
3.38 $BASE_C
3.39 $BASE_KIN
3.40 $BRAKE_SIG
3.41 $CAB_FANSPEED
3.42 $CIRC_MODE
3.43 $CIRC_TYPE
3.44 $CIRC_TYPE_C
3.45 $CMD
3.46 $CURR_ACT
3.47 $CYCFLAG
3.48 $DATA_EXT_OBJx
3.49 $DATA_INTEGRITY
3.50 $DATAPATH
3.51 $DATE
3.52 $DEVICE
3.53 $DISTANCE
3.54 $DIST_NEXT
3.55 $DRIVES_ENABLE
3.56 $ERR
3.57 $EX_AX_IGNORE
3.58 $FAST_MEAS_COUNT
3.59 $FAST_MEAS_COUNT_RESET
3.60 $FAST_MEAS_COUNT_TIME
3.61 $FILTER
3.62 $FILTER_C
3.63 $FLAG
3.64 $FOL_ERROR
3.65 $FCT_CALL
3.66 $GEAR_JERK
3.67 $GEAR_JERK_C
3.68 $HOLDING_TORQUE
3.69 $HOLDING_TORQUE_MAND
3.70 $HOME
3.71 $IN
3.72 $INPOSITION
3.73 $INTERPRETER
3.74 $IOBUS_INFO
3.75 $IOSIM_IN
3.76 $IOSIM_OPT
3.76.1 Simulating inputs/outputs – KUKA System Software 8.2 or higher
3.76.2 Simulating inputs/outputs – KUKA System Software 8.1
3.77 $IOSIM_OUT
3.78 $IOSYS_IN_FALSE
3.79 $IOSYS_IN_TRUE
3.80 $IPO_MODE
3.81 $IPO_MODE_C
3.82 $IPO_WAIT_FOR
3.83 $IPO_WAIT_FOR_ON
3.84 $IPO_WAIT_STATE
3.85 $IS_OFFICE_LITE
3.86 $I2T_OL
3.87 $JERK
3.88 $JERK_C
3.89 $KCP_CONNECT
3.90 $KCP_IP
3.91 $KCP_TYPE
3.92 $KDO_ACT
3.93 $KR_SERIALNO
3.94 $LDC_ACTIVE
3.95 $LDC_LOADED
3.96 $LDC_RESULT
3.97 $LK_MASTER
3.98 $LK_SLAVES
3.99 $LOAD
3.100 $LOAD_C
3.101 $LOAD_A1
3.102 $LOAD_A1_C
3.103 $LOAD_A2
3.104 $LOAD_A2_C
3.105 $LOAD_A3
3.106 $LOAD_A3_C
3.107 $MAMES_ACT
3.108 $MASTERINGTEST_GROUP
3.109 $MASTERINGTEST_REQ_INT
3.110 $MEAS_PULSE
3.111 $MODE_OP
3.112 $MOT_STOP
3.113 $MOT_TEMP
3.114 $MOUSE_ACT
3.115 $MOUSE_DOM
3.116 $MOUSE_ON
3.117 $MOUSE_ROT
3.118 $MOUSE_TRA
3.119 $MOVE_BCO
3.120 $NULLFRAME
3.121 $NUM_IN
3.122 $NUM_OUT
3.123 $ORI_TYPE
3.124 $ORI_TYPE_C
3.125 $OUT
3.126 $OUT_C
3.127 $OV_ASYNC
3.128 $OV_PRO
3.129 $OV_ROB
3.130 $PAL_MODE
3.131 $PATHTIME
3.132 $PC_FANSPEED
3.133 $PINGCOOPKRC
3.134 $POS_ACT
3.135 $POS_ACT_MES
3.136 $POS_BACK
3.137 $POS_FOR
3.138 $POS_INT
3.139 $POS_RET
3.140 $POWER_FAIL
3.141 $POWEROFF_DELAYTIME
3.142 $PRO_IP
3.143 $PRO_IP0
3.144 $PRO_IP1
3.145 $PRO_MODE
3.146 $PRO_MODE0
3.147 $PRO_MODE1
3.148 $PRO_NAME
3.149 $PRO_NAME0
3.150 $PRO_NAME1
3.151 $PRO_STATE
3.152 $PRO_STATE0
3.153 $PRO_STATE1
3.154 $RCV_INFO
3.155 $RED_VEL
3.156 $RED_VEL_C
3.157 $REVO_NUM
3.158 $RINT_LIST
3.159 $ROB_TIMER
3.160 $ROBNAME
3.161 $ROBROOT_C
3.162 $ROBROOT_KIN
3.163 $ROBRUNTIME
3.164 $ROBTRAFO
3.165 $ROTSYS
3.166 $ROTSYS_C
3.167 $RUNTIME_DATA0
3.168 $RUNTIME_DATA1
3.169 $RUNTIME_ERROR0
3.170 $RUNTIME_ERROR1
3.171 $RVM
3.172 $SAFETY_DRIVES_ENABLED
3.173 $SAFETY_SW
3.174 $SAFE_FS_STATE
3.175 $SAFE_IBN
3.176 $SAFE_IBN_ALLOWED
3.177 $SEN_PINT
3.178 $SEN_PINT_C
3.179 $SEN_PREA
3.180 $SEN_PREA_C
3.181 $SERVO_SIM
3.182 $SET_IO_SIZE
3.183 $SINGUL_DIST
3.184 $SINT_LIST
3.185 $SOFTPLCBOOL
3.186 $SOFTPLCINT
3.187 $SOFTPLCREAL
3.188 $SOFT_PLC_EVENT
3.189 $SPL_TECH
3.190 $SPL_TECH_C
3.191 $SPL_TECH_LINK
3.192 $SPL_TECH_LINK_C
3.193 $SPL_TSYS
3.194 $SPL_VEL_MODE
3.195 $SPL_VEL_RESTR
3.196 $SR_ACTIVETOOL
3.197 $SSB_ACTIVE
3.198 $STOPMB_ID
3.199 $STOPNOAPROX
3.200 $SUPPRESS_ABS_ACCUR
3.201 $TECH
3.202 $TECH_C
3.203 $TECHANGLE
3.204 $TECHANGLE_C
3.205 $TECHIN
3.206 $TECHPAR
3.207 $TECHPAR_C
3.208 $TECHSYS
3.209 $TECHSYS_C
3.210 $TECHVAL
3.211 $TIMER
3.212 $TIMER_FLAG
3.213 $TIMER_STOP
3.214 $TOOL
3.215 $TOOL_C
3.216 $TORQ_DIFF
3.217 $TORQ_DIFF2
3.218 $TORQMON
3.219 $TORQMON_COM
3.220 $TORQUE_AXIS_ACT
3.221 $TORQUE_AXIS_LIMITS
3.222 $TORQUE_AXIS_MAX
3.223 $TORQUE_AXIS_MAX_0
3.224 $TRACE
3.225 $TSYS
3.226 $VEL
3.227 $VEL_C
3.228 $VEL_ACT
3.229 $VEL_AXIS
3.230 $VEL_AXIS_C
3.231 $VEL_AXIS_ACT
3.232 $VEL_EXTAX
3.233 $VEL_EXTAX_C
3.234 $WAIT_FOR
3.235 $WAIT_FOR0
3.236 $WAIT_FOR1
3.237 $WAIT_FOR_INDEXRES
3.238 $WAIT_FOR_ON
3.239 $WAIT_FOR_ON0
3.240 $WAIT_FOR_ON1
3.241 $WAIT_STATE
3.242 $WBOXDISABLE
3.243 $WORLD
4 KUKA Service
4.1 Requesting support
4.2 KUKA Customer Support
Index
Expert Documentation
KUKA Roboter GmbH
System Variables
For KUKA System Software 8.1, 8.2 and 8.3
Issued: 16.08.2012
Version: KSS 8.1, 8.2, 8.3 Systemvariablen V2 en (PDF)
System Variables
© Copyright 2012
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC
Publication:
Bookstructure:
Version:
Pub KSS 8.1, 8.2, 8.3 Systemvariablen (PDF) en
KSS 8.1, 8.2, 8.3 Systemvariablen V1.1
KSS 8.1, 8.2, 8.3 Systemvariablen V2 en (PDF)
2 / 131
Issued: 16.08.2012 Version: KSS 8.1, 8.2, 8.3 Systemvariablen V2 en (PDF)
Contents
1
Introduction ..................................................................................................
1.1
Target group ..............................................................................................................
1.2
Industrial robot documentation ...................................................................................
1.3
Representation of warnings and notes ......................................................................
1.4
Terms used ................................................................................................................
2
Safety ............................................................................................................
3
System variables .........................................................................................
3.1
$ABS_ACCUR ...........................................................................................................
3.2
$ABS_RELOAD .........................................................................................................
3.3
$ABS_UPDATE .........................................................................................................
3.4
$ACC .........................................................................................................................
3.5
$ACC_C .....................................................................................................................
3.6
$ACC_AXIS ...............................................................................................................
3.7
$ACC_AXIS_C ...........................................................................................................
3.8
$ACC_CAR_ACT .......................................................................................................
3.9
$ACC_CAR_MAX ......................................................................................................
3.10 $ACC_EXTAX ............................................................................................................
3.11 $ACC_EXTAX_C .......................................................................................................
3.12 $ACCU_STATE .........................................................................................................
3.13 $ACT_ADVANCE ......................................................................................................
3.14 $ADVANCE ................................................................................................................
3.15 $ACT_EX_AX ............................................................................................................
3.16 $ACT_BASE ..............................................................................................................
3.17 $ACT_BASE_C ..........................................................................................................
3.18 $ACT_TOOL ..............................................................................................................
3.19 $ACT_TOOL_C .........................................................................................................
3.20 $ANIN ........................................................................................................................
3.21 $ANOUT ....................................................................................................................
3.22 $APO .........................................................................................................................
3.23 $APO_C .....................................................................................................................
3.24 $ASYNC_AXIS ..........................................................................................................
3.25 $ASYNC_EX_AX_DECOUPLE .................................................................................
3.26 $ASYNC_FLT ............................................................................................................
3.27 $ASYNC_STATE .......................................................................................................
3.28 $AXIS_ACT ................................................................................................................
3.29 $AXIS_ACT_MEAS ...................................................................................................
3.30 $AXIS_BACK .............................................................................................................
3.31 $AXIS_FOR ...............................................................................................................
3.32 $AXIS_INT .................................................................................................................
3.33 $AXIS_MOT ...............................................................................................................
3.34 $AXIS_RET ................................................................................................................
3.35 $B_IN .........................................................................................................................
3.36 $B_OUT .....................................................................................................................
3.37 $BASE .......................................................................................................................
3.38 $BASE_C ...................................................................................................................
3.39 $BASE_KIN ...............................................................................................................
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System Variables
3.40 $BRAKE_SIG ............................................................................................................
3.41 $CAB_FANSPEED ....................................................................................................
3.42 $CIRC_MODE ...........................................................................................................
3.43 $CIRC_TYPE ............................................................................................................
3.44 $CIRC_TYPE_C ........................................................................................................
3.45 $CMD ........................................................................................................................
3.46 $CURR_ACT .............................................................................................................
3.47 $CYCFLAG ................................................................................................................
3.48 $DATA_EXT_OBJx ..................................................................................................
3.49 $DATA_INTEGRITY ..................................................................................................
3.50 $DATAPATH .............................................................................................................
3.51 $DATE .......................................................................................................................
3.52 $DEVICE ...................................................................................................................
3.53 $DISTANCE ..............................................................................................................
3.54 $DIST_NEXT .............................................................................................................
3.55 $DRIVES_ENABLE ...................................................................................................
3.56 $ERR .........................................................................................................................
3.57 $EX_AX_IGNORE .....................................................................................................
3.58 $FAST_MEAS_COUNT ............................................................................................
3.59 $FAST_MEAS_COUNT_RESET ..............................................................................
3.60 $FAST_MEAS_COUNT_TIME ..................................................................................
3.61 $FILTER ....................................................................................................................
3.62 $FILTER_C ................................................................................................................
3.63 $FLAG .......................................................................................................................
3.64 $FOL_ERROR ...........................................................................................................
3.65 $FCT_CALL ...............................................................................................................
3.66 $GEAR_JERK ...........................................................................................................
3.67 $GEAR_JERK_C .......................................................................................................
3.68 $HOLDING_TORQUE ...............................................................................................
3.69 $HOLDING_TORQUE_MAND ..................................................................................
3.70 $HOME ......................................................................................................................
3.71 $IN .............................................................................................................................
3.72 $INPOSITION ............................................................................................................
3.73 $INTERPRETER .......................................................................................................
3.74 $IOBUS_INFO ...........................................................................................................
3.75 $IOSIM_IN .................................................................................................................
3.76 $IOSIM_OPT .............................................................................................................
3.76.1
Simulating inputs/outputs – KUKA System Software 8.2 or higher ......................
3.76.2
Simulating inputs/outputs – KUKA System Software 8.1 .....................................
3.77 $IOSIM_OUT .............................................................................................................
3.78 $IOSYS_IN_FALSE ...................................................................................................
3.79 $IOSYS_IN_TRUE ....................................................................................................
3.80 $IPO_MODE ..............................................................................................................
3.81 $IPO_MODE_C .........................................................................................................
3.82 $IPO_WAIT_FOR ......................................................................................................
3.83 $IPO_WAIT_FOR_ON ..............................................................................................
3.84 $IPO_WAIT_STATE ..................................................................................................
3.85 $IS_OFFICE_LITE ....................................................................................................
3.86 $I2T_OL .....................................................................................................................
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3.87 $JERK ........................................................................................................................
3.88 $JERK_C ...................................................................................................................
3.89 $KCP_CONNECT ......................................................................................................
3.90 $KCP_IP ....................................................................................................................
3.91 $KCP_TYPE ..............................................................................................................
3.92 $KDO_ACT ................................................................................................................
3.93 $KR_SERIALNO ........................................................................................................
3.94 $LDC_ACTIVE ...........................................................................................................
3.95 $LDC_LOADED .........................................................................................................
3.96 $LDC_RESULT ..........................................................................................................
3.97 $LK_MASTER ............................................................................................................
3.98 $LK_SLAVES ............................................................................................................
3.99 $LOAD .......................................................................................................................
3.100 $LOAD_C ...................................................................................................................
3.101 $LOAD_A1 .................................................................................................................
3.102 $LOAD_A1_C ............................................................................................................
3.103 $LOAD_A2 .................................................................................................................
3.104 $LOAD_A2_C ............................................................................................................
3.105 $LOAD_A3 .................................................................................................................
3.106 $LOAD_A3_C ............................................................................................................
3.107 $MAMES_ACT ...........................................................................................................
3.108 $MASTERINGTEST_GROUP ...................................................................................
3.109 $MASTERINGTEST_REQ_INT .................................................................................
3.110 $MEAS_PULSE .........................................................................................................
3.111 $MODE_OP ...............................................................................................................
3.112 $MOT_STOP .............................................................................................................
3.113 $MOT_TEMP .............................................................................................................
3.114 $MOUSE_ACT ...........................................................................................................
3.115 $MOUSE_DOM .........................................................................................................
3.116 $MOUSE_ON ............................................................................................................
3.117 $MOUSE_ROT ..........................................................................................................
3.118 $MOUSE_TRA ...........................................................................................................
3.119 $MOVE_BCO .............................................................................................................
3.120 $NULLFRAME ...........................................................................................................
3.121 $NUM_IN ...................................................................................................................
3.122 $NUM_OUT ...............................................................................................................
3.123 $ORI_TYPE ...............................................................................................................
3.124 $ORI_TYPE_C ...........................................................................................................
3.125 $OUT .........................................................................................................................
3.126 $OUT_C .....................................................................................................................
3.127 $OV_ASYNC .............................................................................................................
3.128 $OV_PRO ..................................................................................................................
3.129 $OV_ROB ..................................................................................................................
3.130 $PAL_MODE .............................................................................................................
3.131 $PATHTIME ...............................................................................................................
3.132 $PC_FANSPEED .......................................................................................................
3.133 $PINGCOOPKRC ......................................................................................................
3.134 $POS_ACT ................................................................................................................
3.135 $POS_ACT_MES ......................................................................................................
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3.136 $POS_BACK .............................................................................................................
3.137 $POS_FOR ...............................................................................................................
3.138 $POS_INT .................................................................................................................
3.139 $POS_RET ................................................................................................................
3.140 $POWER_FAIL .........................................................................................................
3.141 $POWEROFF_DELAYTIME .....................................................................................
3.142 $PRO_IP ...................................................................................................................
3.143 $PRO_IP0 .................................................................................................................
3.144 $PRO_IP1 .................................................................................................................
3.145 $PRO_MODE ............................................................................................................
3.146 $PRO_MODE0 ..........................................................................................................
3.147 $PRO_MODE1 ..........................................................................................................
3.148 $PRO_NAME ............................................................................................................
3.149 $PRO_NAME0 ..........................................................................................................
3.150 $PRO_NAME1 ..........................................................................................................
3.151 $PRO_STATE ...........................................................................................................
3.152 $PRO_STATE0 .........................................................................................................
3.153 $PRO_STATE1 .........................................................................................................
3.154 $RCV_INFO ..............................................................................................................
3.155 $RED_VEL ................................................................................................................
3.156 $RED_VEL_C ............................................................................................................
3.157 $REVO_NUM ............................................................................................................
3.158 $RINT_LIST ...............................................................................................................
3.159 $ROB_TIMER ............................................................................................................
3.160 $ROBNAME ..............................................................................................................
3.161 $ROBROOT_C ..........................................................................................................
3.162 $ROBROOT_KIN ......................................................................................................
3.163 $ROBRUNTIME ........................................................................................................
3.164 $ROBTRAFO .............................................................................................................
3.165 $ROTSYS ..................................................................................................................
3.166 $ROTSYS_C .............................................................................................................
3.167 $RUNTIME_DATA0 ...................................................................................................
3.168 $RUNTIME_DATA1 ...................................................................................................
3.169 $RUNTIME_ERROR0 ...............................................................................................
3.170 $RUNTIME_ERROR1 ...............................................................................................
3.171 $RVM .........................................................................................................................
3.172 $SAFETY_DRIVES_ENABLED ................................................................................
3.173 $SAFETY_SW ...........................................................................................................
3.174 $SAFE_FS_STATE ...................................................................................................
3.175 $SAFE_IBN ...............................................................................................................
3.176 $SAFE_IBN_ALLOWED ............................................................................................
3.177 $SEN_PINT ...............................................................................................................
3.178 $SEN_PINT_C ..........................................................................................................
3.179 $SEN_PREA .............................................................................................................
3.180 $SEN_PREA_C .........................................................................................................
3.181 $SERVO_SIM ............................................................................................................
3.182 $SET_IO_SIZE ..........................................................................................................
3.183 $SINGUL_DIST .........................................................................................................
3.184 $SINT_LIST ...............................................................................................................
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3.185 $SOFTPLCBOOL ......................................................................................................
3.186 $SOFTPLCINT ...........................................................................................................
3.187 $SOFTPLCREAL .......................................................................................................
3.188 $SOFT_PLC_EVENT ................................................................................................
3.189 $SPL_TECH ..............................................................................................................
3.190 $SPL_TECH_C ..........................................................................................................
3.191 $SPL_TECH_LINK ....................................................................................................
3.192 $SPL_TECH_LINK_C ................................................................................................
3.193 $SPL_TSYS ...............................................................................................................
3.194 $SPL_VEL_MODE .....................................................................................................
3.195 $SPL_VEL_RESTR ...................................................................................................
3.196 $SR_ACTIVETOOL ...................................................................................................
3.197 $SSB_ACTIVE ...........................................................................................................
3.198 $STOPMB_ID ............................................................................................................
3.199 $STOPNOAPROX .....................................................................................................
3.200 $SUPPRESS_ABS_ACCUR .....................................................................................
3.201 $TECH .......................................................................................................................
3.202 $TECH_C ...................................................................................................................
3.203 $TECHANGLE ...........................................................................................................
3.204 $TECHANGLE_C ......................................................................................................
3.205 $TECHIN ....................................................................................................................
3.206 $TECHPAR ................................................................................................................
3.207 $TECHPAR_C ...........................................................................................................
3.208 $TECHSYS ................................................................................................................
3.209 $TECHSYS_C ...........................................................................................................
3.210 $TECHVAL ................................................................................................................
3.211 $TIMER ......................................................................................................................
3.212 $TIMER_FLAG ..........................................................................................................
3.213 $TIMER_STOP ..........................................................................................................
3.214 $TOOL .......................................................................................................................
3.215 $TOOL_C ...................................................................................................................
3.216 $TORQ_DIFF .............................................................................................................
3.217 $TORQ_DIFF2 ...........................................................................................................
3.218 $TORQMON ..............................................................................................................
3.219 $TORQMON_COM ....................................................................................................
3.220 $TORQUE_AXIS_ACT ..............................................................................................
3.221 $TORQUE_AXIS_LIMITS ..........................................................................................
3.222 $TORQUE_AXIS_MAX ..............................................................................................
3.223 $TORQUE_AXIS_MAX_0 ..........................................................................................
3.224 $TRACE .....................................................................................................................
3.225 $TSYS .......................................................................................................................
3.226 $VEL ..........................................................................................................................
3.227 $VEL_C .....................................................................................................................
3.228 $VEL_ACT .................................................................................................................
3.229 $VEL_AXIS ................................................................................................................
3.230 $VEL_AXIS_C ...........................................................................................................
3.231 $VEL_AXIS_ACT .......................................................................................................
3.232 $VEL_EXTAX ............................................................................................................
3.233 $VEL_EXTAX_C ........................................................................................................
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System Variables
3.234 $WAIT_FOR ..............................................................................................................
3.235 $WAIT_FOR0 ............................................................................................................
3.236 $WAIT_FOR1 ............................................................................................................
3.237 $WAIT_FOR_INDEXRES ..........................................................................................
3.238 $WAIT_FOR_ON .......................................................................................................
3.239 $WAIT_FOR_ON0 .....................................................................................................
3.240 $WAIT_FOR_ON1 .....................................................................................................
3.241 $WAIT_STATE ..........................................................................................................
3.242 $WBOXDISABLE ......................................................................................................
3.243 $WORLD ...................................................................................................................
4
KUKA Service ...............................................................................................
Requesting support ...................................................................................................
4.1
KUKA Customer Support ...........................................................................................
4.2
Index .............................................................................................................
115
115
115
116
116
116
117
117
118
118
119
119
119
127
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Issued: 16.08.2012 Version: KSS 8.1, 8.2, 8.3 Systemvariablen V2 en (PDF)
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