Please start a new thread only after using the search function to see if there is already an existing thread which addresses your question. If you find a related thread, post your question there instead of starting a new thread. Doing so helps to keep the clutter down and makes the forums more navigable. Please give additional information regarding controller, robot arm and software versions with your question. This is not an official Kuka Robotics support forum. Please do not post copyrighted manuals or licensed software downloads.