Hello, I am programming a few robots using a KR C4 controller that are brand new/commissioned by Kuka within the last year - I can get software version, etc details if needed, sorry don't have them on hand - but my problem is that I don't seem to be able to see any of the more advanced programming commands. There's PTP and LIN but not PTP_REL or LIN_REL, it has some logic commands like Wait/Waitfor but not GO TO, LOOP, etc.
I've read through the expert program manual and it doesn't say there's any specific way to access them, I've changed the mode to Expert and that doesn't help. Is there a variable I need to switch to open up the access to these commands or do they actually have a base version programming software with minimal commands so I need to upgrade? Can they only be used in offline programming? I've programmed a lot of ABB, Fanuc, Nachi, and but just some basic handling of Kuka so maybe there's just something simple that I'm missing?
Thanks for any guidance you can provide.