KSS on KRC2 & KRC4 Problem Solving

What KSS error messages list? what is the messages number? which jog key we are trying use? going the other way also causes problem? how is E1 is configured? 

Kuka Welding Robot Applications
KSS v8.3 on KRC4 List Problem and Solving (i'm not sure enough)

• KSS 15013 "Ackn : enabling switch error" - this problem happened when we moving a kuka robot in T2 Mode and suddently release DEADMAN button. Then these notification problem will come up.
• KSS 32003 "Underload calculated when checking robot load (Tool 2) - this problem solving not found yet.
• KSS03173 " velocity 0m/s at point XPXX, line 249 (kink xyz path)

KSS v5.3 on KRC2 List Problem and Solving

• Module TPTOUCHSENSE Msg No: 0 "Wire is still contacting workspiece Jog robot away"
• Module ARC Msg No: 0 "Too many retries".
• Module System Msg No: 1204 "Ackn. encoder cable failure A6", to solve this problem you have to unmaster and mastering Axis A6, we recommended to use mastering with EMD (Electronics Meansurements Device).

KRC2 stop due to software limit switch AX
To be clear, the kuka robot by default have or should be working properly as a 6-axis, but in any circumstance or in any additionally case depends by customer (request) sometimes we founded additional axis (E1) such as gantry, E1 which means kinematically integrated into the robot motion model, or is it a simply asynchronous axis.

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Kuka System Software 8.36 Default Library backup

&REL 2
DEFDAT  $CONFIG
;FOLD BASISTECH GLOBALS
;==================================
; Default parameters for movement
; These values shouldn't be changed
;==================================

;----------------------------------
; general MOVEMENT - parameters:
;----------------------------------

INT DEF_OV_PRO=100
INT DEF_ADVANCE=3

; PTP - MOVEMENTS
;----------------------------------
INT DEF_VEL_PTP=100
INT DEF_ACC_PTP=50

; CP - MOVEMENTS                                                 
;----------------------------------
DECL CIRC_TYPE DEF_CIRC_TYP=#BASE
DECL JERK_STRUC DEF_JERK_STRUC={CP 500.0,ORI 50000.0,AX {A1 1000.0,A2 1000.0,A3 1000.0,A4 1000.0,A5 1000.0,A6 1000.0,E1 1000.0,E2 1000.0,E3 1000.0,E4 1000.0,E5 1000.0,E6 1000.0}}
REAL DEF_VEL_CP=2.0
REAL DEF_VEL_ORI1=200.0
REAL DEF_VEL_ORI2=200.0
REAL DEF_VEL_ORIS=200.0
REAL DEF_ACC_CP=2.29999995
REAL DEF_ACC_ORI1=100.0
REAL DEF_ACC_ORI2=100.0
REAL DEF_ACC_ORIS=200.0
REAL DEF_VEL_FACT=1.0

; APO - parameters
;--------------------------------
INT DEF_APO_CPTP=50
INT DEF_APO_CVEL=100
REAL DEF_APO_CDIS=3.0
REAL DEF_APO_CORI=5.0

;==================================
; Structures:
;==================================
ENUM BAS_COMMAND INITMOV,ACC_CP,ACC_PTP,VEL_CP,VEL_PTP,ACC_GLUE,TOOL,BASE,EX_BASE,PTP_DAT,CP_DAT,OUT_SYNC,OUT_ASYNC,GROUP,FRAMES,PTP_PARAMS,CP_PARAMS
ENUM OUT_MODETYPE TRIGGER_,CONT_,STOP_
ENUM IPO_M_T NONE,TCP,BASE
ENUM APO_MODE_T CPTP,CDIS
STRUC DIG_OUT_TYPE INT FIRST_BIT,LENGTH,PARITY,CODING
STRUC CTRL_IN_T INT IN_NR,CHAR NAME_NAT[20]
STRUC CTRL_OUT_T INT OUT_NR,BOOL INI,CHAR NAME_NAT[20]
STRUC FCT_OUT_T INT NO,REAL PULS_TIME,BOOL STATE
STRUC FCT_IN_T INT NO,BOOL STATE
STRUC PDAT REAL VEL,ACC,APO_DIST,APO_MODE_T APO_MODE
STRUC LDAT REAL VEL,ACC,APO_DIST,APO_FAC,ORI_TYPE ORI_TYP,CIRC_TYPE CIRC_TYP,REAL JERK_FAC
STRUC FDAT INT TOOL_NO,BASE_NO,IPO_MODE IPO_FRAME,CHAR POINT2[24],BOOL TQ_STATE
STRUC ODAT INT OUT_NO,BOOL STATE,REAL PULSE_TIME,OUT_MODETYPE OUT_MODE,REAL TIME_DELAY,OFFSET
STRUC BASIS_SUGG_T CHAR POINT1[24],POINT2[24],CP_PARAMS[24],PTP_PARAMS[24],CONT[24],CP_VEL[24],PTP_VEL[24],SYNC_PARAMS[24],SPL_NAME[24]

STRUC OUT_SUGG_T CHAR PARAMS[24]
STRUC MACHINE_DEF_T CHAR NAME[24],INT COOP_KRC_INDEX,CHAR PARENT[24],FRAME ROOT,ESYS MECH_TYPE,CHAR GEOMETRY[255]
STRUC MACHINE_TOOL_T INT MACH_DEF_INDEX,CHAR PARENT[24],CHAR GEOMETRY[255]
STRUC MACHINE_FRAME_T INT MACH_DEF_INDEX,CHAR PARENT[24],CHAR GEOMETRY[255]

;==================================
; TORQUE MONITORING
;==================================
SIGNAL sTQM_SPSACTIVE $IN[1026]
SIGNAL sTQM_SPSSTATUS $OUT[1024]

BOOL bTQM_ACTIVE=FALSE
BOOL bTQM_CYC=FALSE
BOOL bTQM_KCPSTATUS=FALSE

STRUC TM_SUGG_T CHAR TM_ID[24]
STRUC TQM_TQDAT_T INT T11,T12,T13,T14,T15,T16,T21,T22,T23,T24,T25,T26,K1,K2,K3,K4,K5,K6,O1,O2,ID,OVM,REAL TMF

DECL TQM_TQDAT_T TMDEFAULT={T11 200,T12 200,T13 200,T14 200,T15 200,T16 200,T21 1000,T22 1000,T23 1000,T24 1000,T25 1000,T26 1000,K1 280,K2 280,K3 280,K4 280,K5 280,K6 280,O1 20,O2 30,ID 0,OVM 0,TMF 1.0}
DECL TQM_TQDAT_T TM0={T11 200,T12 200,T13 200,T14 200,T15 200,T16 200,T21 1000,T22 1000,T23 1000,T24 1000,T25 1000,T26 1000,K1 280,K2 280,K3 280,K4 280,K5 280,K6 280,O1 20,O2 30,ID 0,OVM 0,TMF 1.0}

DECL TQM_TQDAT_T TQM_DATA_C[8]
DECL TQM_TQDAT_T TQM_TEMP

;==================================
; External declarations:
;==================================
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
EXT  IR_STOPM ( )

;====================
; Signal declarations
; Do not change !!!!!
;====================
SIGNAL CHANNEL_1 $ANOUT[1]
SIGNAL CHANNEL_2 $ANOUT[2]
SIGNAL CHANNEL_3 $ANOUT[3]
SIGNAL CHANNEL_4 $ANOUT[4]
SIGNAL CHANNEL_5 $ANOUT[5]
SIGNAL CHANNEL_6 $ANOUT[6]
SIGNAL CHANNEL_7 $ANOUT[7]
SIGNAL CHANNEL_8 $ANOUT[8]
SIGNAL CHANNEL_9 $ANOUT[9]
SIGNAL CHANNEL_10 $ANOUT[10]
SIGNAL CHANNEL_11 $ANOUT[11]
SIGNAL CHANNEL_12 $ANOUT[12]
SIGNAL CHANNEL_13 $ANOUT[13]
SIGNAL CHANNEL_14 $ANOUT[14]
SIGNAL CHANNEL_15 $ANOUT[15]
SIGNAL CHANNEL_16 $ANOUT[16]
SIGNAL CHANNEL_17 $ANOUT[17]
SIGNAL CHANNEL_18 $ANOUT[18]
SIGNAL CHANNEL_19 $ANOUT[19]
SIGNAL CHANNEL_20 $ANOUT[20]
SIGNAL CHANNEL_21 $ANOUT[21]
SIGNAL CHANNEL_22 $ANOUT[22]
SIGNAL CHANNEL_23 $ANOUT[23]
SIGNAL CHANNEL_24 $ANOUT[24]
SIGNAL CHANNEL_25 $ANOUT[25]
SIGNAL CHANNEL_26 $ANOUT[26]
SIGNAL CHANNEL_27 $ANOUT[27]
SIGNAL CHANNEL_28 $ANOUT[28]
SIGNAL CHANNEL_29 $ANOUT[29]
SIGNAL CHANNEL_30 $ANOUT[30]
SIGNAL CHANNEL_31 $ANOUT[31]
SIGNAL CHANNEL_32 $ANOUT[32]

;==================================
; ID external user log-on:
;==================================
SIGNAL ExtUserID $IN[1026]  TO $IN[1026]
SIGNAL ExtUserIDWatchDog $IN[1026]

;==================================
; Variables:
;==================================
DECL PDAT PDEFAULT={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL LDAT LDEFAULT={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL FDAT FDEFAULT={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL FDAT FHOME={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL ODAT ODEFAULT={OUT_NO 1,STATE TRUE,PULSE_TIME 0.0,OUT_MODE #STOP_,TIME_DELAY 0.0,OFFSET 0.0}

DECL PDAT PDAT_ACT
DECL LDAT LDAT_ACT
DECL FDAT FDAT_ACT
DECL ODAT ODAT_ACT
DECL INT ACT_FILTER
DECL INT ACT_DELAY
DECL INT ACT_DISTANCE

DECL CHAR SPL_NAME[24]

;GROUP-Definitions
;----------------------------------
INT COMPL_GROUP='B0001'

INT DEF_GROUP[10]
DEF_GROUP[1]='B1111' ; complete
DEF_GROUP[2]='B0001' ; robot only
DEF_GROUP[3]='B0011' ; robot and track
DEF_GROUP[4]='B0111' ; robot, track and ext. axis2
DEF_GROUP[5]='B1011' ; robot, track and ext. axis3
DEF_GROUP[6]='B1111' ; robot, track and ext. axis2+3
DEF_GROUP[7]='B1111' ; complete
DEF_GROUP[8]='B1111' ; complete
DEF_GROUP[9]='B1111' ; complete
DEF_GROUP[10]='B1111' ; complete

INT $ACT_GROUP='B0001'

; HOME POSITION
;----------------------------------
E6AXIS XHOME={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME1={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME2={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME3={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME4={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME5={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

; REFERENCE POINTS
;----------------------------------
DECL FRAME REF_PT[16]
REF_PT[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[9]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[10]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[11]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[12]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[13]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[14]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
REF_PT[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

FRAME REF_TOOL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

; TOOL and BASE data
;----------------------------------
BOOL AUTO_IPO_M=FALSE
BOOL STOPM_FLAG=FALSE
BOOL TOOL_CORR_ON=FALSE
BOOL TOOL_CORR_W_ON=FALSE
BOOL BASE_CORR_ON=FALSE
BOOL M_BAS_COR_ON=FALSE
FRAME TOOL_CORR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
FRAME TOOL_CORR_W={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
FRAME BASE_CORR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
FRAME M_BASE_CORR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
INT COR_TOOL_NO=0

INT MAX_TOOL=16
DECL FRAME TOOL_DATA[16]
TOOL_DATA[1]={X -0.324180186,Y -0.801433265,Z 319.289459,A 90.6234207,B 0.162686884,C 0.357935697}
TOOL_DATA[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[9]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[10]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[11]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[12]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[13]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[14]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

DECL CHAR TOOL_NAME[16,24]
TOOL_NAME[1,]=" "
TOOL_NAME[2,]=" "
TOOL_NAME[3,]=" "
TOOL_NAME[4,]=" "
TOOL_NAME[5,]=" "
TOOL_NAME[6,]=" "
TOOL_NAME[7,]=" "
TOOL_NAME[8,]=" "
TOOL_NAME[9,]=" "
TOOL_NAME[10,]=" "
TOOL_NAME[11,]=" "
TOOL_NAME[12,]=" "
TOOL_NAME[13,]=" "
TOOL_NAME[14,]=" "
TOOL_NAME[15,]=" "
TOOL_NAME[16,]=" "

DECL LOAD LOAD_DATA[16]
LOAD_DATA[1]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[2]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[3]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[4]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[5]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[6]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[7]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[8]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[9]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[10]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[11]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[12]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[13]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[14]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[15]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[16]={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}

DECL IPO_M_T TOOL_TYPE[16]
TOOL_TYPE[1]=#NONE
TOOL_TYPE[2]=#NONE
TOOL_TYPE[3]=#NONE
TOOL_TYPE[4]=#NONE
TOOL_TYPE[5]=#NONE
TOOL_TYPE[6]=#NONE
TOOL_TYPE[7]=#NONE
TOOL_TYPE[8]=#NONE
TOOL_TYPE[9]=#NONE
TOOL_TYPE[10]=#NONE
TOOL_TYPE[11]=#NONE
TOOL_TYPE[12]=#NONE
TOOL_TYPE[13]=#NONE
TOOL_TYPE[14]=#NONE
TOOL_TYPE[15]=#NONE
TOOL_TYPE[16]=#NONE

DECL LOAD LOAD_A1_DATA={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
DECL LOAD LOAD_A2_DATA={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
DECL LOAD LOAD_A3_DATA={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}

INT MAX_BASE=32
DECL FRAME BASE_DATA[32]
BASE_DATA[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[9]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[10]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[11]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[12]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[13]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[14]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[17]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[18]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[19]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[20]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[21]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[22]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[23]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[24]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[25]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[26]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[27]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[28]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[29]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[30]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[31]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[32]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

DECL CHAR BASE_NAME[32,24]
BASE_NAME[1,]=" "
BASE_NAME[2,]=" "
BASE_NAME[3,]=" "
BASE_NAME[4,]=" "
BASE_NAME[5,]=" "
BASE_NAME[6,]=" "
BASE_NAME[7,]=" "
BASE_NAME[8,]=" "
BASE_NAME[9,]=" "
BASE_NAME[10,]=" "
BASE_NAME[11,]=" "
BASE_NAME[12,]=" "
BASE_NAME[13,]=" "
BASE_NAME[14,]=" "
BASE_NAME[15,]=" "
BASE_NAME[16,]=" "
BASE_NAME[17,]=" "
BASE_NAME[18,]=" "
BASE_NAME[19,]=" "
BASE_NAME[20,]=" "
BASE_NAME[21,]=" "
BASE_NAME[22,]=" "
BASE_NAME[23,]=" "
BASE_NAME[24,]=" "
BASE_NAME[25,]=" "
BASE_NAME[26,]=" "
BASE_NAME[27,]=" "
BASE_NAME[28,]=" "
BASE_NAME[29,]=" "
BASE_NAME[30,]=" "
BASE_NAME[31,]=" "
BASE_NAME[32,]=" "

DECL IPO_M_T BASE_TYPE[32]
BASE_TYPE[1]=#NONE
BASE_TYPE[2]=#NONE
BASE_TYPE[3]=#NONE
BASE_TYPE[4]=#NONE
BASE_TYPE[5]=#NONE
BASE_TYPE[6]=#NONE
BASE_TYPE[7]=#NONE
BASE_TYPE[8]=#NONE
BASE_TYPE[9]=#NONE
BASE_TYPE[10]=#NONE
BASE_TYPE[11]=#NONE
BASE_TYPE[12]=#NONE
BASE_TYPE[13]=#NONE
BASE_TYPE[14]=#NONE
BASE_TYPE[15]=#NONE
BASE_TYPE[16]=#NONE
BASE_TYPE[17]=#NONE
BASE_TYPE[18]=#NONE
BASE_TYPE[19]=#NONE
BASE_TYPE[20]=#NONE
BASE_TYPE[21]=#NONE
BASE_TYPE[22]=#NONE
BASE_TYPE[23]=#NONE
BASE_TYPE[24]=#NONE
BASE_TYPE[25]=#NONE
BASE_TYPE[26]=#NONE
BASE_TYPE[27]=#NONE
BASE_TYPE[28]=#NONE
BASE_TYPE[29]=#NONE
BASE_TYPE[30]=#NONE
BASE_TYPE[31]=#NONE
BASE_TYPE[32]=#NONE

;******************************************
; Variables for CELL DEFINITION
;******************************************

INT MAX_MACHINES=16
DECL MACHINE_DEF_T MACHINE_DEF[16]
MACHINE_DEF[1]={NAME[] "Robot",COOP_KRC_INDEX 1,PARENT[] "WORLD",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #ROBOT,GEOMETRY[] " "}
MACHINE_DEF[2]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[3]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[4]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[5]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[6]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[7]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[8]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[9]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[10]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[11]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[12]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[13]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[14]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[15]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
MACHINE_DEF[16]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}

DECL MACHINE_TOOL_T MACHINE_TOOL_DAT[16]
MACHINE_TOOL_DAT[1]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[2]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[3]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[4]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[5]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[6]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[7]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[8]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[9]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[10]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[11]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[12]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[13]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[14]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[15]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[16]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}

DECL MACHINE_FRAME_T MACHINE_FRAME_DAT[32]
MACHINE_FRAME_DAT[1]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[2]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[3]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[4]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[5]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[6]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[7]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[8]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[9]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[10]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[11]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[12]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[13]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[14]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[15]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[16]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[17]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[18]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[19]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[20]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[21]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[22]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[23]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[24]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[25]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[26]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[27]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[28]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[29]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[30]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[31]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[32]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}

;******************************************
; Variables for axis CALIBRATING
;******************************************
DECL INT CAL_AXIS
BOOL CONST_SPEED

;******************************************
; Variables for added TechPackages
;******************************************

INT POWER

;******************************************
; Variables for TOUCHUP user limit 
;******************************************
BOOL UM_TOUCHUP=FALSE
REAL CARTESIAN_TOL=5.0
REAL ROTATION_ANGLE=10.0
REAL EXTAX_TOL[6]
EXTAX_TOL[1]=10.0
EXTAX_TOL[2]=10.0
EXTAX_TOL[3]=10.0
EXTAX_TOL[4]=10.0
EXTAX_TOL[5]=10.0
EXTAX_TOL[6]=10.0

;******************************************
; Variables for Displaying and Konfiguring
;******************************************
DECL INT I[20]

I[1]=0
I[2]=0
I[3]=0
I[4]=0
I[5]=0
I[6]=0
I[7]=0
I[8]=0
I[9]=0
I[10]=0
I[11]=0
I[12]=0
I[13]=0
I[14]=0
I[15]=0
I[16]=0
I[17]=0
I[18]=0
I[19]=0
I[20]=0

;******************************************
; all for InterBus Mapping on optional segments
;******************************************

DECL INT IBUS_SEGMENT[16]
IBUS_SEGMENT[1]=0
IBUS_SEGMENT[2]=0
IBUS_SEGMENT[3]=0
IBUS_SEGMENT[4]=0
IBUS_SEGMENT[5]=0
IBUS_SEGMENT[6]=0
IBUS_SEGMENT[7]=0
IBUS_SEGMENT[8]=0
IBUS_SEGMENT[9]=0
IBUS_SEGMENT[10]=0
IBUS_SEGMENT[11]=0
IBUS_SEGMENT[12]=0
IBUS_SEGMENT[13]=0
IBUS_SEGMENT[14]=0
IBUS_SEGMENT[15]=0
IBUS_SEGMENT[16]=0
;ENDFOLD (BASISTECH GLOBALS)
;FOLD AUTOEXT GLOBALS
;==================================
; Structures:
;==================================
ENUM FUNCT_TYPE PGNO_GET,PGNO_ACKN,PGNO_FAULT
ENUM P00_COMMAND INIT_EXT,EXT_PGNO,CHK_HOME,EXT_ERR

STRUC SPS_PROG_TYPE INT PROG_NR,CHAR PROG_NAME[12]
;==================================
; External declarations:
;==================================
EXT  P00 (P00_COMMAND  :IN,FUNCT_TYPE  :IN,CHAR [],INT  :IN )
;External declaration  for  Submit controlled AutoExt
EXT  P00_SUBM (P00_COMMAND  :IN,FUNCT_TYPE  :IN )

;==================================
; Variables:
;==================================
; Variables for internal
; Communication:
;----------------------------------
BOOL ERROR_FLAG
BOOL CHECK_HOME=TRUE
BOOL PROG_CONTROL=FALSE
DECL CHAR PRO_NAME1_L[8]
PRO_NAME1_L[]="        "
DECL CHAR PRO_NAME1_A[8]
PRO_NAME1_A[]="        "

INT PGNO=0 ;copy of ext. pgno
INT PGNO_ERROR=0 ;transmission error
INT PGNO_TYPE=1 ;coding type of ext. pgno
INT REFLECT_PROG_NR=0 ; enable mirroring of program number inputs (1=enabled, 0=disabled)

; Variables for External 
; Communication: I/O-Interface
;----------------------------------
INT PGNO_FBIT=33 ;first bit of ext. pgno input $IN[]
INT PGNO_FBIT_REFL=999 ;first bit of ext. pgno reflection output $OUT[]
INT PGNO_LENGTH=8 ;length of ext. pgno (max. 16)
INT PGNO_PARITY=41 ;parity bit of ext. pgno
INT PGNO_REQ=33 ;request ext. pgno input
INT PGNO_VALID=42 ;validate ext. pgno input
INT APPL_RUN=34 ;application program is running output
INT ERR_TO_PLC=35 ;error output to PLC
INT P01_STEP
INT CHK_STEP
INT PGNO_FLAG

; Table for assign SPS program number to program name
INT MAX_SPS_PROG=12
DECL SPS_PROG_TYPE SPS_PROG[12]
SPS_PROG[1]={PROG_NR 1,PROG_NAME[] "HP01()    "}
SPS_PROG[2]={PROG_NR 2,PROG_NAME[] "HP02()    "}
SPS_PROG[3]={PROG_NR 3,PROG_NAME[] "HP03()    "}
SPS_PROG[4]={PROG_NR 4,PROG_NAME[] "HP04()    "}
SPS_PROG[5]={PROG_NR 5,PROG_NAME[] "HP05()    "}
SPS_PROG[6]={PROG_NR 6,PROG_NAME[] "HP06()    "}
SPS_PROG[7]={PROG_NR 7,PROG_NAME[] "HP07()    "}
SPS_PROG[8]={PROG_NR 8,PROG_NAME[] "HP08()    "}
SPS_PROG[9]={PROG_NR 9,PROG_NAME[] "HP09()    "}
SPS_PROG[10]={PROG_NR 10,PROG_NAME[] "HP10()    "}
SPS_PROG[11]={PROG_NR 62,PROG_NAME[] "HP62()    "}
SPS_PROG[12]={PROG_NR 63,PROG_NAME[] "HP63()    "}
DECL CHAR TMPNAME[128]
TMPNAME[]="                                "
;ENDFOLD (AUTOEXT GLOBALS)
;FOLD USER GLOBALS
;*******************************************
;Make your modifications -ONLY- here
;*******************************************
;==================================
; Userdefined Types 
;==================================

;==================================
; Userdefined Externals 
;==================================

;==================================
; Userdefined Variables 
;==================================

INT MsgType
INT ProgNum
INT InspIndex
INT intcount=2664133
INT NoMsgCount=10738
INT GoodMsgCount=10826

DECL REAL position[6]
DECL INT closure[2]
DECL REAL joints[6]
BOOL sardEStop
REAL velocityPct
REAL accelerationPct
REAL jtVelocityPct
REAL jtAccelerationPct
DECL PDAT PPDAT={VEL 20.0,ACC 20.0,APO_DIST 100.0}
DECL FDAT FPDAT={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
E6POS PPOS={X 1329.39856,Y 75.7504654,Z 149.602814,A 49.3086052,B -3.52634811,C 178.479248,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS PAXIS={A1 -2.92521644,A2 -32.2351837,A3 55.7271194,A4 -1.27774072,A5 62.8330116,A6 -42.5067444}

ENUM PROGCMD NONE,LOAD_PROG,EXEC_MOVE,GET_POS,MOVE_HOME,MOVE_START,ABORT_PROG,GET_STATUS,MOVE_CART,MOVE_JTS,SET_VEL_ACCEL,HIT_E_STOP
DECL PROGCMD Command
;ENDFOLD (USER GLOBALS)
ENDDAT

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Eclipse Java Tutorial Installation Part 1

Eclipse is Integrated Development Environment (IDE) which is Software that provides all the essential tools you will need for editing, running and debugging your java programs.
1. Instaling the java develipment kit (JDK)
2. Installing and starting eclipse
3. Installing the subversibe plugin
Download
1. JDK for Windows (x86) or (x64)
2. Elipse IDE for Windows
3. ADT Plugin on Eclipse
4. Android SDK
1. Installing Java Development Kit (JDK) -*JDK8u25 (26 Desember 2014)

    Note : Mac User skip to the part of this section The Java Development Kit (JDK) is a set of development tools used in the programming of java application the eclipse IDE requires that a JDK be locally installed. The JDK can be download from the web at (here). Use the header Java SE Downloads, click the plain Java Button, show in the red box bellow, to download most the recent update of JDK.

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2. Eclipse for Window

   Download Eclipse Java Kepler versi 4.3.2 [x86] / [x64], Juno 4.2 [x86] / [x64], Indigo [x86] /  [x64], Luna [x86] / [x64]. Untuk Preview Page disetiap versi java bisa anda lihat di bawah ini.
    A. Kepler (4.3.2) Site, kemudian klik menu Download for windows [x86] atau [x64], original file
        size-nya 201MB.
    B. Juno (4.2) Site, kemudian klik menu Download for windowss [x86] atau [x64], original file size-nya
        229MB.

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Certificate / 내가 증명서

01. Birth & Family Certificate:

Date Issue (MM/DD/YY)	Release City	Description	Image (click image to preview)
11/11/1992	Ciamis Indonesia	Certificate of Birth
05/05/2011	Ciamis Indonesia	Certificate of Family
03/09/2014	Cikarang Indonesia	Certificate of Family

02. Education Background Certificate :

Date Issue (MM/DD/YY)	Release City	Description	Image (click image to preview)
12/02/2013	Gwangju South Korea	Master Degree Certificate (Chonnam National University)
12/02/2013	Gwangju South Korea	Academic Transcript (Chonnam National University)
02/26/2011	Yogyakarta Indonesia	Bachelor Degree Certificate (Islamic University of Indonesia)
02/26/2011	Yogyakarta Indonesia	Academic Transcript (Islamic University of Indonesia)
02/26/2011	Yogyakarta Indonesia	Achievement Certificate Cumlaude
XX/XX/2006	Garut Indonesia	Islamic Boarding School Ma'had Darul Arqam (Aliyah / SMA / High School)
XX/XX/2000	Garut Indonesia	Islamic Boarding School Ma'had Darul Arqam (Tsanawiyah / SMP / Junior School)

03. Scholarship Certificate:

Date Issue (MM/DD/YY)	Release City	Description	Image (click image to preview)
12/07/2011	Gwangju South Korea	Brain Korea under 21 (BK21) South Korea Government Scholarship
XX/XX/2011	Cikarang Indonesia	LG Innotek Scholarship for Thesis
11/03/2008	North Jakarta Indonesia	Toyota & Astra Scholarship for Period 2008-2009

04. Parklaring Certificate:

Date Issue (MM/DD/YY)	Release City	Description	Image (click image to preview)
03/16/2009	Cikarang Indonesia	Certificate of Co-Operation Programme LG Innotek Cikarang with Project Theme : Monitoring Input Output Production bases on PLC SCADA

05. Competition Certificate:

Date Issue (MM/DD/YY)	Release City	Description	Image (click image to preview)
04/25/2010	Depok Indonesia	National PLC Competition 2010, issued by PT Sarana Trimitra Solusindo

06. Workshop Certificate:

Date Issue (MM/DD/YY)	Release City	Description	Image (click image to preview)
01/15/2010	Yogyakarta Indonesia	PC Cloning Workshop, issued by Imagine IT Education Center
10/15/2009	Yogyakarta Indonesia	Workshop Knowledge Based Entrepreneur for College Student

07. Stadium General Certificate:

Date Issue (MM/DD/YY)	Release City	Description	Image (click image to preview)
02/22/2010	Yogtakarta Indonesia	Stadium General: Security of Mobile Communication, held by Industrial Technology Faculty of UII
10/27/2009	Yogyakarta Indonesia	Stadium General: Blackberry and Wireless Technology in The Future, held by Industrial Technology Faculty of UII
07/17/2008	Yogyakarta Indonesia	Stadium General: Podcasting, Rock, Podcast Yourself Held by Industrial Technology Faculty of UII
03/12/2008	Yogyakarta Indonesia	Stadium General: Image Processing and Application, held by Industrial Technology Faculty of UII

08. Training Certificate:

Date Issue (MM/DD/YY)	Release City	Description	Image (click image to preview)
09/13/2012	Gangnam-Gu South Korea	Comsol Multiphysics 교육 (기분, 전자기/RF,구조/음양), Session II - held by ALTSOFT
08/24/2012	Gangnam-Gu South Korea	Comsol Multiphysics 교육 (역/유동, 화학반응, PDE), Session I - held by ALTSOFT
04/13/2010	Yogyakarta Indonesia	Security Netwok Training, issued by LPK-EFAC Training Center
11/08/2008	Yogyakarta Indonesia	Training Siemens CQM1 Programmable Logic Control (PLC) – Fastnet UGM Yogyakarta
05/13/2008	Yogyakarta Indonesia	Basic Level of FPGA (Field Programmable Gate Array) held by Islamic University of Indonesia
08/24/2007	Yogyakarta Indonesia	Microcontroller AT89S51/52 Presented by HMTE UGM Yogyakarta
08/25/2007	Yogyakarta Indonesia	Matlab Certificate of Completion held by Bijak Training Service

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