KUKA KST - MultiSubmitInterpreter - 1.0

KUKA System Software KUKA Roboter GmbH
KUKA.MultiSubmitInterpreter 1.0
For KUKA System Software 8.3
KUKA.Multi-
SubmitInter-
preter 1.0
Issued: 12.12.2014
Version: KST MultiSubmitInterpreter 1.0 V1

© Copyright 2014
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: Pub KST MultiSubmitInterpreter 1.0 (PDF) en

Book structure: KST MultiSubmitInterpreter 1.0 V1.1
Version: KST MultiSubmitInterpreter 1.0 V1
2 / 45 Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1

Contents
Contents
1 Introduction .................................................................................................. 5
1.1 Target group .............................................................................................................. 5
1.2 Industrial robot documentation ................................................................................... 5
1.3 Representation of warnings and notes ...................................................................... 5
2 Product description ..................................................................................... 7

2.1 KUKA.MultiSubmitInterpreter – overview ................................................................... 7
2.2 Indicator on the SmartHMI ......................................................................................... 8
2.3 Intended use .............................................................................................................. 9
3 Safety ............................................................................................................ 11
4 Installation .................................................................................................... 13
4.1 System requirements ................................................................................................. 13
4.2 Installing or updating KUKA.MultiSubmitInterpreter ................................................... 13
4.3 Uninstalling KUKA.MultiSubmitInterpreter ................................................................. 13
5 Operation ...................................................................................................... 15
5.1 Automatic starting of submit interpreters (at a cold start) .......................................... 15
5.2 Manual control of submit interpreters ......................................................................... 15
5.2.1 Stopping all submit interpreters ............................................................................ 15
5.2.2 Deselecting all submit interpreters ........................................................................ 16
5.2.3 Starting all submit interpreters .............................................................................. 16
5.2.4 Stopping, resetting or deselecting individual submit interpreters .......................... 16
5.2.5 Starting individual submit interpreters ................................................................... 17
5.2.6 Starting the system submit interpreter individually ............................................... 17
5.3 “Submit interpreter” window .................................................................................... 18
5.3.1 “Current display/assignment” tab ...................................................................... 18
5.3.2 “Cold start configuration” tab ............................................................................. 20
6 Programming ............................................................................................... 21
6.1 Permissible and impermissible KRL instructions ....................................................... 21
6.2 Subprograms ............................................................................................................. 21
6.3 Inputs/outputs and communication ............................................................................ 22
6.4 System variables ........................................................................................................ 22
6.4.1 Overview ............................................................................................................... 22
6.4.2 $INTERPRETER .................................................................................................. 23
6.4.3 $PROG_INFO[] .................................................................................................... 24
6.5 CWRITE and the command interface ........................................................................ 25
6.6 Creating a new SUB program .................................................................................... 27
6.7 Editing the SPS.SUB program ................................................................................... 27
7 Diagnosis ..................................................................................................... 29
7.1 Displaying interrupts .................................................................................................. 29
7.2 Displaying diagnostic data for the interpreters ........................................................... 30
8 Appendix ...................................................................................................... 31
8.1 Overview: Changes of state due to actions in the menu ............................................ 31
8.2 Displaying or changing the module property “Visible” ............................................... 32
Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1 3 / 45

9 KUKA Service ............................................................................................... 35

9.1 Requesting support ................................................................................................... 35
9.2 KUKA Customer Support ........................................................................................... 35
Index ............................................................................................................. 43

1 Introduction
1 Introduction
t
1.1 Target group

t
This documentation is aimed at users with the following knowledge and skills:
 Advanced knowledge of the robot controller system
 Advanced KRL programming skills
For optimal use of our products, we recommend that our customers

take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be ob-
tained directly from our subsidiaries.
1.2 Industrial robot documentation
The industrial robot documentation consists of the following parts:

 Documentation for the manipulator
 Documentation for the robot controller
 Operating and programming instructions for the System Software
 Instructions for options and accessories
 Parts catalog on storage medium
Each of these sets of instructions is a separate document.
1.3 Representation of warnings and notes
Safety These warnings are relevant to safety and must be observed.
These warnings mean that it is certain or highly probable

that death or severe injuries will occur, if no precautions
are taken.
These warnings mean that death or severe injuries may

occur, if no precautions are taken.
These warnings mean that minor injuries may occur, if

no precautions are taken.
These warnings mean that damage to property may oc-

cur, if no precautions are taken.
These warnings contain references to safety-relevant information or

general safety measures.
These warnings do not refer to individual hazards or individual pre-
cautionary measures.
This warning draws attention to procedures which serve to prevent or remedy

emergencies or malfunctions:
Procedures marked with this warning must be followed

exactly.
Notices These notices serve to make your work easier or contain references to further
information.

Tip to make your work easier or reference to further information.

2 Product description
2
2.1
t
KUKA.MultiSubmitInterpreter – overview
s
If KUKA System Software (KSS) is used with KUKA.MultiSubmitInter-

preter, this documentation replaces the “Submit interpreter” chapter
in the documentation “Operating and Programming Instructions for
System Integrators”.
Single Submit Without KUKA.MultiSubmitInterpreter

mode A robot controller without KUKA.MultiSubmitInterpreter runs in Single Submit
mode. This means that 2 tasks run on it simultaneously:
 Robot interpreter
The motion programs run in the robot interpreter.
 System submit interpreter
The program SPS.SUB runs in the system submit interpreter.
A SUB program can perform operator control or monitoring tasks. Examples:
monitoring of safety equipment; monitoring of a cooling circuit. This means
that no PLC is required for smaller applications, as the robot controller can per-
form such tasks by itself.
Multi-Submit With KUKA.MultiSubmitInterpreter

mode A robot controller with KUKA.MultiSubmitInterpreter runs in Multi-Submit
mode. This means: in addition to the system submit interpreter, there are 7 fur-
ther submit interpreters available, so-called extended submits. Overall, the fol-
lowing interpreters therefore exist:
 1 robot interpreter
 1 system submit interpreter
 7 extended submit interpreters
All the submit interpreters can be used simultaneously.
 The extended submits are intended for user-specific submit tasks.
Users can create their own SUB programs and assign these to the extend-
ed submits.
 The system submit and the SPS.SUB program are intended for controller-
internal submit tasks.
Submit interpreters must not be used for time-critical ap-

plications! A PLC must be used in such cases. Reasons:
 The submit interpreters share system resources with the robot interpret-
er, which has the higher priority. Submit interpreters are thus not execut-
ed at the robot controller’s interpolation cycle rate of 12 ms. Furthermore,
the runtime of the submit interpreters is irregular.
 The runtime of the submit interpreters is influenced by the number of
lines in the SUB program. Even comment lines and blank lines have an
effect.
If a system file, e.g. $config.dat or $custom.dat, is modified in such a

way that errors are introduced, the currently active submit interpreters
are automatically deselected. Once the error in the system file has
been rectified, the submit interpreters must be reselected manually.
States A submit interpreter can have the following states:

State Description
ACTIVE A program is selected and running in the submit interpreter.
STOP A program is selected in the submit interpreter, but has
been stopped.
RESET A program is selected in the submit interpreter, but has
been stopped and reset.
FREE No program is selected in the submit interpreter. FREE can
have the following variants:
 FREE_PRESELECTED:
A program is assigned to the submit interpreter in the
Submit interpreter window under Available mod-
ules. The program is not selected.
 FREE_UNSELECTED:
No program is assigned to the submit interpreter in the
Submit interpreter window under Available mod-
ules.
Compatibility If a robot controller from KUKA is supplied with KUKA.MultiSubmitInterpreter,

KUKA.MultiSubmitInterpreter is compatible with the other options on the robot
controller.
Compatibility must be checked in the following cases:
 If KUKA.MultiSubmitInterpreter is to be installed on a robot controller sub-
sequently.
 If further options are to be installed subsequently on a robot controller that
was supplied by KUKA with KUKA.MultiSubmitInterpreter.
For information about the current compatibility of KUKA.MultiSubmi-

tInterpreter with other options, please contact KUKA Roboter GmbH.
2.2 Indicator on the SmartHMI
Status indicator The status bar of the KUKA smartHMI contains a group indicator of the state
of the submit interpreters. The state shown is always the highest state current-
ly applying among all the submit interpreters.
The sequence of states (in descending order) is:
ACTIVE, STOP, RESET, FREE
Fig. 2-1: Submit interpreter status indicator
Icon Color / description

Green
At least 1 submit interpreter is in the ACTIVE state.
Red
At least 1 submit interpreter is in the STOP state.
No submit interpreter is in the ACTIVE state.

Icon Color / description

Yellow
At least 1 submit interpreter is in the RESET state.
No submit interpreter is in the STOP state.
No submit interpreter is in the ACTIVE state.
Gray
All submit interpreters are in the FREE state.
Mini menu Touching the Submit interpreter status indicator opens the mini menu All
SUBMIT interpreters.
Fig. 2-2: Mini menu “All SUBMIT interpreters”
Navigator In the Navigator, SUB programs are indicated by the following symbol:
In user group Expert or higher, the file extension sub is displayed in addition.
The program SPS.SUB is located in the directory R1\System. This directory is
visible in the user group Expert or higher.
2.3 Intended use
Use The KUKA.MultiSubmitInterpreter software must only be operated in compli-

ance with the specified system requirements.
Operation in accordance with the intended use also involves compliance with
the “Safety” chapter in this documentation.
Misuse Any use or application deviating from the intended use is deemed to be misuse
and is not allowed. The manufacturer cannot be held liable for any damage re-
sulting from such use. The risk lies entirely with the user.


3 Safety
3 Safety
f
y This documentation contains safety instructions which refer specifically to the

functionality described here.
The fundamental safety information for the industrial robot can be found in the
“Safety” chapter of the Operating and Programming Instructions for System In-
tegrators or the Operating and Programming Instructions for End Users.
The “Safety” chapter in the operating and programming instructions

of the KUKA System Software (KSS) must be observed. Death to per-
sons, severe injuries or considerable damage to property may other-
wise result.
Submit interpreters must not be used for time-critical ap-

plications! A PLC must be used in such cases. Reasons:
 The submit interpreters share system resources with the robot interpret-
er, which has the higher priority. Submit interpreters are thus not execut-
ed at the robot controller’s interpolation cycle rate of 12 ms. Furthermore,
the runtime of the submit interpreters is irregular.
 The runtime of the submit interpreters is influenced by the number of
lines in the SUB program. Even comment lines and blank lines have an
effect.
No monitoring is carried out as to whether the robot inter-

preter and submit interpreter are accessing the same
output simultaneously, as this may even be desired in certain cases.
The user must therefore carefully check the assignment of the outputs. Oth-
erwise, unexpected output signals may be generated, e.g. in safety equip-
ment. Death, serious injuries or major damage to property may result.
In the test modes, $OV_PRO must not be written to by

the Submit interpreter, because the change may be un-
expected for operators working on the industrial robot. Death, injuries or
damage to property may result.
If possible, do not modify safety-relevant signals and

variables (e.g. operating mode, EMERGENCY STOP,
safety gate contact) via a submit interpreter.
If modifications are nonetheless required, all safety-relevant signals and vari-
ables must be linked in such a way that they cannot be set to a dangerous
state by the submit interpreter or PLC.
By default, the program SPS.SUB is assigned to the system submit

interpreter. It is strongly recommended not to change this assign-
ment. It is necessary to enable the controller-internal submit tasks to
be executed. If this assignment is changed, this can affect the functionality of
technology packages and other options.
We strongly recommend not deselecting or stopping the system sub-

mit interpreter while the robot controller is using functionalities from
options (e.g. while a program is running that contains commands from
a technology package). If the system submit is not running, this can affect the
functionality of technology packages and other options.


4 Installation
4 Installation
4
4.1 System requirements

t
Hardware  KR C4 robot controller
Software  KUKA System Software 8.3.12 or higher
4.2 Installing or updating KUKA.MultiSubmitInterpreter
It is advisable to archive all relevant data before updating a software

package.
Precondition  “Expert” user group

 T1 or T2 mode
 No program is selected.
 USB stick with the software to be installed
We recommend using a KUKA USB stick. Data may be

lost if a stick from a different manufacturer is used.
Procedure 1. Connect the USB stick to the robot controller or smartPAD.

2. In the main menu, select Start-up > Additional software.
3. Press New software: The entry MultiSubmitInterpreter must be dis-
played in the Name column and drive E:\ or K:\ in the Path column.
If not, press Refresh.
4. If the specified entries are now displayed, continue with step 5.
Otherwise, the path from which the software is to be installed must be con-
figured first:
a. Press the Configure button.
b. Select a line in the Installation paths for options area.
Note: If the line already contains a path, this path will be overwritten.
c. Press Path selection. The available drives are displayed.
d. If the stick is connected to the robot controller: On E:\, select the level
at which the software is located. This can be E:\ directly or a sublevel.
If the stick is connected to the smartPAD: K:\ instead of E:\
e. Press Save. The Installation paths for options area is displayed
again. It now contains the new path.
f. Mark the line with the new path and press Save again.
5. Select the entry MultiSubmitInterpreter and press Install. Answer the re-
quest for confirmation with Yes.
6. Confirm the reboot prompt with OK.
7. Remove the stick.
8. Reboot the robot controller.
LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.
4.3 Uninstalling KUKA.MultiSubmitInterpreter
It is advisable to archive all relevant data before uninstalling a soft-

ware package.


interpreter. If the assignment has been changed, the following must
be observed: the change is retained in the case of uninstallation, i.e.
the program SPS.SUB is not automatically reassigned to the system submit.
Procedure 1. In the main menu, select Start-up > Additional software.

2. Select the entry KUKA.MultiSubmitInterpreter and press Uninstall. An-
swer the request for confirmation with Yes. Uninstallation is prepared.
3. Reboot the robot controller. Uninstallation is resumed and completed.
LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

5 Operation
5 Operation
5.1 Automatic starting of submit interpreters (at a cold start)

t
Description For the extended submits, it is possible to define whether these should start
automatically at a cold start, and with which program.
Procedure 1. In the main menu, select Configuration > All SUBMIT interpreters >
Display/Assign.
Or:
In the status bar, touch the Submit interpreter status indicator. The mini
menu All SUBMIT interpreters is opened.
Select Display/Assign.
2. The Submit interpreter window is opened.
Select the Cold start configuration tab.
(>>> 5.3.2 "“Cold start configuration” tab" Page 20)
3. In the line of the corresponding extended submit interpreter, activate or de-
activate the check box Autostart as required.
4. Select the desired program under Available modules.
The settings are immediately valid.
The default settings for the system submit are:

Available modules = sps
Autostart = active
It is strongly recommended not to change these settings.
5.2 Manual control of submit interpreters
5.2.1 Stopping all submit interpreters

Description This procedure stops all submits that are in the ACTIVE state.
The action has no effect on submits in the STOP, RESET or FREE states.
If a stopped submit is restarted, the SUB program is resumed at the point at
which it was stopped.
Precondition  User group "Expert".

 Operating mode T1 or T2.
Procedure  In the main menu, select Configuration > All SUBMIT interpreters >
Stop.
Or:
Select Stop.

5.2.2 Deselecting all submit interpreters

Description This procedure deselects all submits, i.e. both the system submits and all ex-
tended submits. All submits are then in the FREE state.

Procedure  In the main menu, select Configuration > All SUBMIT interpreters > De-
select.
Or:
Select Deselect.
5.2.3 Starting all submit interpreters
Description This procedure starts all submit interpreters that are assigned a SUB program
on the Current display/assignment tab in the Submit interpreter window.
Initial state of SUB

Effect
program
STOP The SUB program is resumed at the point at
which it was stopped.
RESET The SUB program starts from the beginning.
FREE

 Operating mode T1 or T2
 No submit interpreter is in the ACTIVE state.
Procedure  In the main menu, select Configuration > All SUBMIT interpreters > Se-
lect/Start.
Or:
Select Select/Start.
5.2.4 Stopping, resetting or deselecting individual submit interpreters



5 Operation
Procedure If the submit is to be reset, it must first be stopped.

1. In the main menu, select Configuration > All SUBMIT interpreters >
Display/Assign.
Or:
Select the Current display/assignment tab.
(>>> 5.3.1 "“Current display/assignment” tab" Page 18)
3. Select the line with the submit interpreter that is to be stopped or deselect-
ed.
4. Press the Stop or Deselect button on the right-hand side.
5. If Stop was selected in the previous step:
If required, now reset the SUB program using the Reset button.
5.2.5 Starting individual submit interpreters
Description The procedure described here can be used both for the system submit and for
the extended submits.
For the system submit there are also further ways of starting it individually.
(>>> 5.2.6 "Starting the system submit interpreter individually" Page 17)

 T1, T2 or AUT mode
 The submit is in the FREE, STOP or RESET state.
If a program is to be assigned to the submit: FREE state
Procedure 1. In the main menu, select Configuration > All SUBMIT interpreters >
Display/Assign.
Or:
Select the Current display/assignment tab.
(>>> 5.3.1 "“Current display/assignment” tab" Page 18)
3. Select the line with the submit interpreter that is to be started.
4. In the Available modules column, select the desired SUB program.
The program SPS.SUB is assigned by default to the system submit

ment.
5. Press Select/Start or Start on the right-hand side.
5.2.6 Starting the system submit interpreter individually
Description The procedures described here start the program SPS.SUB in the system sub-
mit without this having to be selected explicitly. Other submit interpreters can-
not be started in this way.
Precondition  T1, T2 or AUT mode

 The system submit is in the FREE state.
Procedure  In the Navigator, double-click on the program SPS.SUB in the directory

R1\System.
Or:
 Select SPS.SUB in the Navigator and press the Select button.
Or:
 Select SPS.SUB in the Navigator and select the menu sequence Edit >
Select > Without parameters.
(The menu item With parameters is also available, but only Without pa-
rameters is relevant for SUB programs.)
If a different SUB program is accidentally started in this way in the

system submit interpreter, it must be deselected again and the origi-
nal SPS.SUB program intended for the system submit must be select-
ed again.
5.3 “Submit interpreter” window
5.3.1 “Current display/assignment” tab
Fig. 5-1: Current display/assignment

5 Operation
Item Description
1 State of the interpreter
Green Yellow
ACTIVE RESET
Red Gray
STOP FREE
2 SYS line: The program SPS.SUB is assigned to the system sub-
mit interpreter.
EX… lines: Here a SUB program can be assigned to an extended
submit interpreter.
The selection list can only be opened if the interpreter is in the
FREE state. The list displays SUB programs with the following
properties:
 Present in the file system under [Computer name]\KRC:\
 And: With the module property Visible
(>>> "Module info" Page 32)
Programs which are already assigned to an interpreter on this tab,
are grayed out in the list and cannot be assigned to any other
interpreter.

ment. It is necessary to enable the controller-internal submit tasks to
be executed. If this assignment is changed, this can affect the functionality of
technology packages and other options.
If the assignment is changed anyway, the following must additionally be ob-
served: the change is retained if KUKA.MultiSubmitInterpeter is uninstalled,
i.e. in the case of an uninstallation, the program SPS.SUB is not automatical-
ly reassigned to the system submit.
If a change is made under Available modules and no action is executed for

this interpreter using one of the buttons, then a dialog is displayed when the
Submit interpreter window is closed, asking whether the changes should be
saved.
Buttons Button Description

Select/Start Selects the SUB program and starts it.
Only available if the program is deselected.
Start Starts the SUB program.
Only available if the program has been stopped
or reset.
Stop Stops the SUB program.
Only available if the program is running.
Reset Resets the SUB program.
Only available if the program has been stopped.
Deselect Deselects the SUB program.
Only available if the program is selected or has
been stopped.

5.3.2 “Cold start configuration” tab
The settings on this tab are immediately valid and do not have to be saved
separately.
Fig. 5-2: Cold start configuration
Item Description
1 Here a SUB program can be assigned to an extended submit inter-
preter.
The box displays SUB programs with the following properties:
 Present in the file system under [Computer name]\KRC:\
 And: With the module property Visible
(>>> "Module info" Page 32)
Programs which are already assigned to an interpreter on this tab,
are grayed out in the list and cannot be assigned to any other in-
terpreter.
2  Activated: After a cold start, this interpreter starts automatical-
ly with the module that is selected under Available modules.
 Deactivated: After a cold start, this interpreter does not start,
irrespective of whether a module is selected under Available
modules.
The default settings for the system submit are:

Available modules = sps
Autostart = active
It is strongly recommended not to change these settings.

6 Programming
6 Programming
6.1 Permissible and impermissible KRL instructions
Almost all KRL instructions can be used in a SUB program.

The following instructions are not possible, however – or only with restrictions:
 Instructions for robot motions
Robot motions can only be interpreted by the robot interpreter. For this
reason, SRC programs containing motion commands cannot be called as
subprograms from a SUB program.
 Instructions referring to robot motions
These include BRAKE and all TRIGGER statements.
 The following instructions are permissible in the system submit, but not in
the extended submits:
 ASYPTP
 VECTORMOVEON()
 VECTORMOVEOFF()
 SET_TORQUE_LIMITS()
 RESET_TORQUE_LIMITS()
Example:
The motion instructions for external axes in this example can be used in a SUB
program provided that this is assigned to the system submit and not to an ex-
tended submit.
IF (($IN[12] == TRUE) AND ( NOT $IN[13] == TRUE)) THEN
ASYPTP {E2 45}
ASYPTP {E3 200}
...
IF ((NOT $IN[12] == TRUE) AND ($IN[13] == TRUE)) THEN
ASYPTP {E2 0}
ASYPTP {E3 90}
External axes E2 and E3 are moved in accordance with specific inputs.

WAIT statements or wait loops have not been used here as they stop the cy-
cle.
6.2 Subprograms
Other programs can be called as subprograms in a SUB program. The follow-

ing are possible:
 Other SUB programs
 SRC programs without statements for robot motions
Example:
CELL.SRC can be selected from within the program SPS.SUB with a CWRITE
statement and RUN. The call only takes effect in the case of a cold start.

Fig. 6-1: SPS.SUB selects CELL.SRC in the robot interpreter
6.3 Inputs/outputs and communication
Inputs/outputs Submit interpreters can access the inputs and outputs of the robot controller.
No monitoring is carried out as to whether the robot inter-

preter and submit interpreter are accessing the same
output simultaneously, as this may even be desired in certain cases.
The user must therefore carefully check the assignment of the outputs. Oth-
erwise, unexpected output signals may be generated, e.g. in safety equip-
ment. Death, serious injuries or major damage to property may result.
Communication The flags of the robot controller can be used to enable the exchange of binary
information between a running motion program and a SUB program. A flag is
set by the submit interpreter and read by the robot interpreter.
6.4 System variables
6.4.1 Overview
The submit interpreters have read-access to all system variables and write-ac-
cess to many of them. Access works even if the system variables are being
used in parallel by a motion program.
If a system variable to which the submit interpreter does not have write-access
is modified in a SUB program, an error message is generated when the SUB
program is started and the submit interpreter stops.
In the test modes, $OV_PRO must not be written to by

the Submit interpreter, because the change may be un-
expected for operators working on the industrial robot. Death, injuries or
damage to property may result.

6 Programming
If possible, do not modify safety-relevant signals and

variables (e.g. operating mode, EMERGENCY STOP,
safety gate contact) via a submit interpreter.
If modifications are nonetheless required, all safety-relevant signals and vari-
ables must be linked in such a way that they cannot be set to a dangerous
state by the submit interpreter or PLC.
Changed system In Multi-Submit mode, the meaning of certain system variables is changed
variables compared with the Single Submit mode. Other system variables have been
added or removed.
Changed system variables:
 $INTERPRETER (>>> 6.4.2 "$INTERPRETER" Page 23)
 $PRO_STATE0
Represents the state of the group indicator in the status bar. The variable
is write-protected.
(>>> "Status indicator" Page 8)
 $ERR
$ERR is a system variable of the structure type Error_T. The type Error_T
has a component which represents the current interpreter.
In Single Submit mode, only the values #R_INT and #S_INT are possible
for this component.
For Multi-Submit mode, the range of possible values has been expanded
to include the extended submits:
 #EXT_S_INT1
 …
 #EXT_S_INT7
Further information about $ERR is contained in the “Operating and

Programming Instructions for System Integrators”.
Removed system Removed system variables (with the postfix “0”):

variables  $PRO_IP0
 $PRO_NAME0
 $PRO_MODE0
 $WAIT_FOR_ON0
 $WAIT_FOR0[]
 $WAIT_STATE0
The states represented by the variables $PRO_xxx0 in Single Submit mode
are represented in Multi-Submit mode by $PROG_INFO[].
The system variables of the same name with the postfix “1” ($PRO_IP1, etc.)
are retained unchanged.
The variables $WAIT_xxx0 have been removed altogether.
New system New system variable:

variable  $PROG_INFO[] (>>> 6.4.3 "$PROG_INFO[] " Page 24)
6.4.2 $INTERPRETER
Description Selecting the interpreter

Numerous system states can be read, and in many cases also set, via vari-
ables. Strictly speaking, these variables exist multiple times – once per inter-
preter. They are identical in name for all interpreters.
Examples:
 Program run mode ($PRO_MODE)
 Program state ($PRO_STATE)
 Data of the process pointer ($PRO_IP)
 WAIT FOR statement at which the interpreter is currently waiting
($WAIT_FOR[])
When such a variable is accessed, this is always referred automatically to the
current interpreter. This is defined by $INTERPRETER.
Syntax $INTERPRETER=Interpreter
Explanation of Element Description

the syntax
Interpreter Type: INT
Selecting the interpreter
 1: Robot interpreter
 2: System submit interpreter
 3: Extended submit interpreter 1
 …
Default: 1
The value 0 is invalid in Multi-Submit mode!

In Single Submit mode, on the other hand, only the values 0 (submit
interpreter) and 1 (robot interpreter) exist.
6.4.3 $PROG_INFO[]
Description $PROG_INFO[] groups certain system states together in a structure. The

states refer to an interpreter.
Syntax $PROG_INFO[Interpreter] = Information
Explanation of
Element Description
the syntax
Interpreter Type: INT
 …
Information Type: Prog_Info
List of the system states, referred to Interpreter
Prog_Info STRUC Prog_Info CHAR sel_name[32], PRO_STATE p_state,

PRO_MODE p_mode, CHAR pro_ip_name[32], INT pro_ip_snr

6 Programming
Element Description
sel_name[] Name of the selected program
p_state Program state
The possible values are the same as for
$PRO_STATE.
p_mode Program run mode
The possible values are the same as for
$PRO_MODE.
pro_ip_name[] Name of the current module
pro_ip_snr Current block in the current module
Example DEF myProgr()

...
WAIT FOR $PROG_INFO[4].P_STATE == #P_ACTIVE
Meaning: Wait until extended submit 2 has selected and started a program.
6.5 CWRITE and the command interface
CWRITE CWRITE can transfer statements to an interpreter via the command channel
$CMD. In addition to the robot interpreter and the system submit, the extended
submits are also available for this purpose in Multi-Submit mode.
Basic information about CWRITE can be found in the CREAD/

CWRITE documentation.
Changed The meaning of the following commands has changed compared with the Sin-
commands gle Submit mode:
 RUN [Interpreter ID]
 STOP [Interpreter ID]
 RESET [Interpreter ID]
 CANCEL [Interpreter ID]
Interpreter ID:
 0: All submit interpreters

 …
In addition, RUN has been expanded with the optional element [> Interpreter
ID].
Example 1 CWRITE ($CMD, STAT, MODE, "RUN/R1/CELL()")
Behavior in Single Submit mode:

Starts the program CELL(). Since CELL() is an SRC program, it starts in
the robot interpreter.

Behavior in Multi-Submit mode:

As in Single Submit mode.
This program line can be used in the system submit or in an extended sub-
mit.
Example 2 CWRITE ($CMD, STAT, MODE, "RUN/R1/SPS()")

Starts the program SPS(). Since SPS() is a SUB program, it starts in the
system submit interpreter (= only submit interpreter in Single Submit
mode).

Starts the program SPS(). Since SPS() is a SUB program, it starts in the
system submit interpreter.
Example 3 CWRITE ($CMD, STAT, MODE, "STOP 0")

This program line is only meanful in a robot program.

Stops the system submit interpreter.

Stops all running submit interpreters.
Example 4 CWRITE ($CMD, STAT, MODE, "CANCEL 0")

Deselects the system submit interpreter.

Deselects all submit interpreters.
Example 5 CWRITE ($CMD, STAT, MODE, "RUN/R1/MySubProg() > 5")

This statement is not permissible in Single Submit mode.

If MySubProg() is a SUB program, it starts in extended submit 3.
This program line can be used in the other submit interpreters or in a robot
program.
Example 6 CWRITE ($CMD, STAT, MODE, "STOP 5")


Stops extended submit interpreter 3.
program.
Example 7 CWRITE ($CMD, STAT, MODE, "CANCEL 5")


6 Programming

Deselects extended submit interpreter 3.
program.
6.6 Creating a new SUB program
Procedure 1. In the file list, select the folder in which the program is to be created. (Not
all folders allow the creation of programs within them.)
2. Press the New button.
The Template selection window is opened.
3. Select the template Submit or Expert Submit and confirm with OK.
4. Enter a name for the program and confirm it with OK.
Description “Submit” template:

The Submit template generates a SUB file with the following structure:
1 DECLARATIONS
2 INI
3
4 LOOP
5 USER PLC
6 ENDLOOP
7 USER SUBROUTINE
Line Description
1 Declaration section
2 Initialization section. For statements that are only to be execut-
ed once after the system has booted.
4, 5, 6 LOOP statement containing the Fold USER PLC.
USER PLC is for programs that are to run continuously in the
background.
7 For user-specific subroutines
“Expert Submit” template:

The Expert Submit template generates an empty SUB file. With this template,
everything has to be programmed by the user.
Use a LOOP statement when programming. SUB programs without a

LOOP statement are only executed once by the Submit interpreter. It
is then automatically deselected.
6.7 Editing the SPS.SUB program
Description The SPS.SUB program is intended by KUKA for controller-internal submit

tasks. User-specific submit tasks should normally be programmed in separate
SUB programs.
In some cases, however, it may be necessary for the user to insert instructions
into the SPS.SUB program. The following folds are available for this:
 USER INIT
 USER PLC

Other parts of the SPS.SUB program must not be modified by the user.
If other parts of SPS.SUB are changed, this can affect the functional-
ity of technology packages and other options.
Precondition  The program SPS.SUB is not selected or has been stopped.

 User group “Expert”
Procedure 1. In the Navigator, select the SPS.SUB program in the directory R1\System
and press Open.
2. Enter the changes:
 Enter initializations in the USER INIT fold. This fold is located in the INI
fold.
USER INIT
; Please insert user defined initialization commands
 Enter all other changes in the USER PLC fold.

USER PLC
; Make your modifications here
3. Close the program. Respond to the request for confirmation asking wheth-
er the changes should be saved by pressing Yes.
SPS.SUB Structure of the program SPS.SUB:

1 DEF SPS ( )
2 DECLARATIONS
3 INI
4
5 LOOP
6 WAIT FOR NOT($POWER_FAIL)
7 TORQUE_MONITORING()
8
9 ATB PLC LOOP
10 USER PLC
11 ENDLOOP
Line Description
3 INI fold
This fold contains the USER INIT fold: here the user can enter
statements which are to be executed only once after booting.
5 … 10 LOOP statement. For programs that are to run continuously in
the background.
9 Some software options insert folds into the program
SPS.SUB. Example: KUKA.ArcTech Basic inserts the fold
ATB PLC LOOP.
The folds that are actually present depend on what options are
installed on the robot controllers.
10 USER PLC: Here the user can enter instructions that are to be
executed in the LOOP.

7 Diagnosis
7 Diagnosis
7.1
s
Displaying interrupts
s
Procedure 1. In the main menu, select Diagnosis > Interrupts. The Interrupts window
is opened.
2. In the box at bottom left, select the interpreter whose interrupts are to be
displayed.
3. The states of the interrupts are displayed. The display is not refreshed au-
tomatically, however.
To refresh the display, press Refresh.
“Interrupts”
window
Fig. 7-1: Interrupts
Item Description
1 Here you can select the interpreter whose interrupts are to be dis-
played.
2 State:
 GREEN: “Interrupt ON” or “Interrupt ENABLE”
 RED: “Interrupt DISABLE”
 GRAY: “Interrupt OFF” or: Interrupt only declared, but not ON
3 Number/priority of the interrupt
4 Validity range of the interrupt: global or local
5 Type of interrupt, dependent on the defined event in the interrupt
declaration
 Standard: e.g. $IN[...]
 Error stop: $STOPMESS
 EMERGENCY STOP: $ALARM_STOP
 Measurement (Fast Measurement): $MEAS_PULSE[1…5]
 Trigger: Trigger subprogram

Item Description
6 Module in which the interrupt is declared
Note: If the path is very long and cannot be shown completely in
the box, it can be displayed in its entirety by touching the box.
7 Program line in which the interrupt is declared
Button Description
Refresh Refreshes the display.
7.2 Displaying diagnostic data for the interpreters
Procedure 1. In the main menu, select Diagnosis > Diagnostic monitor.

2. In the Module box, select the entry KRC (KRC interpreter).
In the area below it, information is now displayed about the interpreters,
including the states of all submit interpreters and the CPU load.

8 Appendix
8
A
Appendix
8.1
x
Overview: Changes of state due to actions in the menu
The tables show how submit interpreters with different initial states change
their state as a result of actions performed in the mini menu or the main menu.
Example 1:
Initial state 1st action 2nd action 3rd action 4th action
Stop Select/Start Deselect Select/Start
ACTIVE STOP ACTIVE FREE_PRESEL. ACTIVE
STOP STOP ACTIVE FREE_PRESEL. ACTIVE
RESET RESET ACTIVE FREE_PRESEL. ACTIVE
FREE_PRESEL. FREE_PRESEL. ACTIVE FREE_PRESEL. ACTIVE
FREE_UNSEL. FREE_UNSEL. FREE_UNSEL. FREE_UNSEL. FREE_UNSEL.
Example 2:
Initial state 1st action 2nd action

Stop Deselect
ACTIVE STOP FREE_PRESEL.
STOP STOP FREE_PRESEL.
RESET RESET FREE_PRESEL.
FREE_PRESEL. FREE_PRESEL. FREE_PRESEL.
FREE_UNSEL. FREE_UNSEL. FREE_UNSEL.
Example 3:

Initial state 1st action

Deselect
ACTIVE FREE_PRESEL.
STOP FREE_PRESEL.
RESET FREE_PRESEL.
FREE_PRESEL. FREE_PRESEL.
FREE_UNSEL. FREE_UNSEL.
8.2 Displaying or changing the module property “Visible”
Precondition  To change properties: user group “Expert”.
Procedure 1. Select the SUB program in the file list.

2. Select the menu sequence Edit > Properties.
A window opens. Select the Module info tab.
3. If required: Change the property Visible and save the change with OK.
Module info The Module info tab is only displayed if the selected object is a file.
Fig. 8-1: “Module info” tab

8 Appendix
Item Description
1 Version: internal version number of the file. After creation, the file
does not yet have a number. After the first change, the file
receives the number 1. The number is incremented after every
change.
Size SRC:: size of the SRC file
Size DAT:: size of the DAT file
Source type:: file type
 SRC: SRC file
 SubmitSub: SUB file
 None: all other file types, e.g. DAT file
2 Status of the module in the submit interpreter and in the robot
interpreter
Free: program is not selected.
selected: program is selected.
Active: only relevant for the Submit box. This program is cur-
rently being used by the submit interpreter.
3 Check box active: if this program is called as a subprogram, it is
displayed in the Editor.
Check box not active: if this program is called as a subprogram, it
is not displayed in the Editor. This program cannot be selected
manually.
4 The user can enter his or her name here.
5 The user can enter a comment for the module here. The comment
is displayed in the Comment column in the Navigator.


9 KUKA Service
9 KUKA Service
A
9.1 Requesting support

v
Introduction This documentation provides information on operation and operator control,

and provides assistance with troubleshooting. For further assistance, please
contact your local KUKA subsidiary.
Information The following information is required for processing a support request:

 Model and serial number of the manipulator
 Model and serial number of the controller
 Model and serial number of the linear unit (if present)
 Model and serial number of the energy supply system (if present)
 Version of the system software
 Optional software or modifications
 Diagnostic package KrcDiag:
Additionally for KUKA Sunrise: Existing projects including applications
For versions of KUKA System Software older than V8: Archive of the soft-
ware (KrcDiag is not yet available here.)
 Application used
 External axes used
 Description of the problem, duration and frequency of the fault
9.2 KUKA Customer Support
Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.
Argentina Ruben Costantini S.A. (Agency)

Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
[email protected]
Australia KUKA Robotics Australia Pty Ltd

45 Fennell Street
Port Melbourne VIC 3207
Australia
Tel. +61 3 9939 9656
[email protected]
www.kuka-robotics.com.au

Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
[email protected]
www.kuka.be
Brazil KUKA Roboter do Brasil Ltda.

Travessa Claudio Armando, nº 171
Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP
Brazil
Tel. +55 11 4942-8299
Fax +55 11 2201-7883
[email protected]
www.kuka-roboter.com.br
Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
[email protected]
www.robotec.cl
China KUKA Robotics China Co., Ltd.

No. 889 Kungang Road
Xiaokunshan Town
Songjiang District
201614 Shanghai
P. R. China
Tel. +86 21 5707 2688
Fax +86 21 5707 2603
[email protected]
www.kuka-robotics.com
Germany KUKA Roboter GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
[email protected]
www.kuka-roboter.de

9 KUKA Service
France KUKA Automatisme + Robotique SAS

Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
[email protected]
www.kuka.fr
India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
[email protected]
www.kuka.in
Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
[email protected]
www.kuka.it
Japan KUKA Robotics Japan K.K.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7691
Fax +81 45 744 7696
[email protected]
Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
[email protected]
www.kuka-robotics.com/canada

Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
[email protected]
Malaysia KUKA Robot Automation (M) Sdn Bhd

South East Asia Regional Office
No. 7, Jalan TPP 6/6
Taman Perindustrian Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 (03) 8063-1792
Fax +60 (03) 8060-7386
[email protected]
Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
[email protected]
www.kuka-robotics.com/mexico
Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
[email protected]
Austria KUKA Roboter CEE GmbH

Gruberstraße 2-4
4020 Linz
Austria
Tel. +43 7 32 78 47 52
Fax +43 7 32 79 38 80
[email protected]
www.kuka.at

9 KUKA Service
Poland KUKA Roboter Austria GmbH

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
[email protected]
Portugal KUKA Sistemas de Automatización S.A.

Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
[email protected]
Russia KUKA Robotics RUS

Werbnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
[email protected]
www.kuka-robotics.ru
Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
[email protected]
Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
[email protected]
www.kuka-roboter.ch

Spain KUKA Robots IBÉRICA, S.A.

Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
Fax +34 93 8142-950
[email protected]
www.kuka-e.com
South Africa Jendamark Automation LTD (Agency)

76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za
Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
[email protected]
www.kuka.com.tw
Thailand KUKA Robot Automation (M)SdnBhd

Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn
10540 Thailand
Tel. +66 2 7502737
Fax +66 2 6612355
[email protected]
www.kuka-roboter.de
Czech Republic KUKA Roboter Austria GmbH

Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
[email protected]

9 KUKA Service
Hungary KUKA Robotics Hungaria Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
[email protected]
USA KUKA Robotics Corporation

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
[email protected]
www.kukarobotics.com
UK KUKA Automation + Robotics

Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
[email protected]


Index
Index
Symbols O
$CMD 25 Operation 15
$ERR 23
$INTERPRETER 23 P
$PRO_IP… 23 Product description 7
$PRO_MODE… 23 Programming 21
$PRO_NAME… 23
$PRO_STATE0 23 R
$PROG_INFO 23, 24 RESET (command) 25
$WAIT_FOR_ON0 23 RESET (state) 8
$WAIT_FOR0 23 RESET_TORQUE_LIMITS 21
$WAIT_STATE0 23 Resetting, submit interpreters 16
RUN (command) 25
A
ACTIVE (state) 8 S
Appendix 31 Safety 11
ASYPTP 21 Safety instructions 5
Service, KUKA Roboter 35
C SET_TORQUE_LIMITS 21
CANCEL (command) 25 Single Submit mode 7
Cold start 15, 20 Software 13
Command interface 25 SPS.SUB 7, 27
Communication 22 SPS.SUB, editing 27
CWRITE 25 Starting, submit interpreters 15, 16, 17
Starting, system submit interpreter 17
D States, submit interpreter 7
Deselecting, submit interpreters 16 Status bar 8
Diagnosis 29 Status indicator 8
Diagnostic monitor (menu item) 30 STOP (command) 25
Documentation, industrial robot 5 STOP (state) 8
Stopping, submit interpreters 15, 16
E SUB program, creating 27
Expert Submit (template) 27 Submit (template) 27
Extended submit 7 Subprograms 21
Extended submit interpreter 7 Support request 35
System requirements 13
F System submit 7
FREE (state) 8 System submit interpreter 7
FREE_PRESELECTED (state) 8 System variables 22
FREE_UNSELECTED (state) 8
T
H Training 5
Hardware 13
U
I Uninstallation, KUKA.MultiSubmitInterpreter 13
Inputs/outputs 22 Update, KUKA.MultiSubmitInterpreter 13
Installation 13 Use, intended 9
Intended use 9
Interrupts (menu item) 29 V
Interrupts, displaying 29 VECTORMOVEOFF 21
Introduction 5 VECTORMOVEON 21
K W
KRL instructions, for SUB programs 21 Warnings 5
KUKA Customer Support 35
M
Multi-Submit mode 7



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KUKA System Software KUKA Roboter GmbH

For KUKA System Software 8.3

Version: KST MultiSubmitInterpreter 1.0 V1

Publication: Pub KST MultiSubmitInterpreter 1.0 (PDF) en

2 / 45 Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1

2 Product description ..................................................................................... 7

Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1 3 / 45

9 KUKA Service ............................................................................................... 35

4 / 45 Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1

1.1 Target group

For optimal use of our products, we recommend that our customers

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

1.3 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

These warnings mean that it is certain or highly probable

These warnings mean that death or severe injuries may

These warnings mean that minor injuries may occur, if

These warnings mean that damage to property may oc-

These warnings contain references to safety-relevant information or

This warning draws attention to procedures which serve to prevent or remedy

Procedures marked with this warning must be followed

Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1 5 / 45

Tip to make your work easier or reference to further information.

6 / 45 Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1

If KUKA System Software (KSS) is used with KUKA.MultiSubmitInter-

Single Submit Without KUKA.MultiSubmitInterpreter

Multi-Submit With KUKA.MultiSubmitInterpreter

Submit interpreters must not be used for time-critical ap-

If a system file, e.g. $config.dat or $custom.dat, is modified in such a

States A submit interpreter can have the following states:

Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1 7 / 45

Compatibility If a robot controller from KUKA is supplied with KUKA.MultiSubmitInterpreter,

For information about the current compatibility of KUKA.MultiSubmi-

2.2 Indicator on the SmartHMI

Fig. 2-1: Submit interpreter status indicator

Icon Color / description

8 / 45 Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1

Icon Color / description

Fig. 2-2: Mini menu “All SUBMIT interpreters”

2.3 Intended use

Use The KUKA.MultiSubmitInterpreter software must only be operated in compli-

Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1 9 / 45

10 / 45 Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1

y This documentation contains safety instructions which refer specifically to the

The “Safety” chapter in the operating and programming instructions

Submit interpreters must not be used for time-critical ap-

No monitoring is carried out as to whether the robot inter-

In the test modes, $OV_PRO must not be written to by

If possible, do not modify safety-relevant signals and

By default, the program SPS.SUB is assigned to the system submit

We strongly recommend not deselecting or stopping the system sub-

Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1 11 / 45

12 / 45 Issued: 12.12.2014 Version: KST MultiSubmitInterpreter 1.0 V1

4.1 System requirements

Hardware  KR C4 robot controller

Software  KUKA System Software 8.3.12 or higher

4.2 Installing or updating KUKA.MultiSubmitInterpreter

It is advisable to archive all relevant data before updating a software