KUKA机器人外部自动配置方法

?1T1cell.srccell.srcEXT_AUTO.2PLC$move_enable()3PLC$move_enable500ms$drivers_off()4PLC$drivers_off500ms$drivers_on$drivers_on$peri_rdyPLCPLC$drivers_on5PLC$ext_start()?()PRNO_FBIT:$IN[11]---$IN[17]PGNOPRNO_FBIT11PRNO_FBITPGNO_LENGTH:PGNOPGNO_LENGTH7PGNO127.PGNO_PARITY:0.PGNO_VAILD:$IN[18]$IN[18]TRUEPLCPGNO_VAILD(1)PLCPGNO_VAILDTRUE.PGNOPGNO_REQ:PLC1T1cell.srccell.srcEXT_AUTO.2PLC$move_enable()3PLC$move_enable500ms$drivers_off()4PLC$drivers_off500ms$drivers_on$drivers_on$peri_rdyPLCPLC$drivers_on5PLC$ext_start()6PLCPGNO_REQPLC7PLC500msPLC$PGNO_VAILD(1000ms)PGNO67.$drivers_Off34,5?()PLC$conf_mess():SafetyMaintenance---------?1$alarm_stop()10.2$rc_rdy1()101.3$pro_act1.4$in_homehome1.