Hello gentlemen. A little off topic.
Are there any ways to switch $USER_SAF in office lite?
I tried to change "machine.dat" file, but did not get a good result. 
Also i tried to switch off $USER_SAF by custom plugin, which operate KRC via KukaRoboter.LegacyKrcServiceLib but aslo without succes.
I need to develop some KRL code by using $USER_SAF but don't know how I can simulate that on OfficeLite.
Small video for better understanding... -> Test
you realize that you are testing in T1 mode?
even on a real robot $USER_SAF is ignored in T1.
also this is an output but - it is an system output (controlled by KSS).
one can control outputs - as long as they are not system outputs.
you realize that you are testing in T1 mode?
Yes. It is keypoin for my app.
even on a real robot $USER_SAF is ignored in T1.
Very strange, on a real robot i use variable $USER_SAF in T1 and have no problems.
It seems $USER_SAF has a same behaviour as function is_key_pressed() on Office lite and doesnt simulate pressing.
For my task i decide to use $CYCFLAG[n] wich include one $USER_SAF and second var 'my_var'. On real robot my code will be have same functionality if 'my_var' == TRUE.
Anyway thanks for ansfer.
exactly, $USER_SAF is signal telling that input used for safety fence is ok. but in T1 mode safety fence is ignored. to make it look ok, in T1 mode this signal is bypassed when enabling switch on smartPad is pressed (so called "deadman switch"). but this is NOT the safety fence.
regardless, $USER_SAF represents status and it is controlled by KSS. you cannot override it by your program.
Thank you for the clarification. I thought it is directly signal from 'deadman switch' only.
Display More(Edited!!!)
Hi,
I was able to connect to KUKA OfficeLite and KUKA Office PC (real PC that runs KSS 8.6) through the Y200 interface and I hope my experience can help somebody. Please, see the detailed communication diagram attached.
Briefly about the main thing: the Server is a service program, which, in connection with the Y200 Interface, allows the coupling between the OLP application and the virtual robot controller (VRC) application KUKA.OfficeLite over TCP/IP network.
From my experience:
1. Y200 does not have to be licensed.
2. The VRC and Y200 interfaces cannot be installed together on the KRC virtual image, otherwise the Y200 interface will not work properly.
3. Y200 interface only works with KSS 8.5 and higher.
4. Use network address translation (NAT): the virtual machine and the host system share a single network identity that is not visible outside the network.
5. C:\KRC\User\Y200Interface.config file contains the Y200IpcName - the shared-memory name to access the KRC data.
6. The following data are stored on the shared memory: Inputs $IN[], Outputs $OUT[], Axis-specific position $AXIS_ACT, Cartesian position $POS_ACT, Current base $BASE and Current tool $TOOL. The Inputs can be read/written, but the outputs are only read access.
7. The server and the client mentioned here are developed by myself. Y200 is not a server, but only an interface used to exchange the data between KRC and shared memory.
Sorry, I cannot share the source code, but feel free to ask any specific questions.
Hi Mischa,
could you give a hint which *.dll you are using and how you access the shared memory?
Hi Mischa,
could you give a hint which *.dll you are using and how you access the shared memory?
I programmed an interface to access all the variables in the Robot system for read and write. Having only problems to write Robot inputs in this way. If you are interested I can share.
Hi Mischa,
could you give a hint which *.dll you are using and how you access the shared memory?
Hi Pascal,
I use all standard libraries:
using System;
using System.IO;
using System.IO.MemoryMappedFiles;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Net.NetworkInformation;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Windows.Forms;
using System.Xml;
using Microsoft.Win32;And accessing the shared memory is pretty trivial:
using (var memoryMappedFile = MemoryMappedFile.OpenExisting(Dns.GetHostName())){
using (var viewAccessor = memoryMappedFile.CreateViewAccessor(
0, 0, MemoryMappedFileAccess.ReadWrite)){
// Write data to the KRC
viewAccessor.WriteArray(84, krcInputs, 0, 1024);
// Read data from the KRC
viewAccessor.ReadArray(84, currentData, 0, 2168);
}
}Feel free to share you use case 
