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KMR CIP KMR iiwa (Production (take POD on KMR's way if buffer is…
KMR CIP 
HW CIP
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Move the LBR to the center of KMR if no space to increase buffer 
SW CIP
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FM redundancy (2 FM server active-active)Avoid production line stopping, can switch to upgraded one server.
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FM upgrade flow could be done on Server(KMRfirmware/PLC/driver=>No need upgrade for both server & MR’s pc
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Production
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plan task for all available buffer, not available KMR
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