From 1fa0b28185cebd4875f6b1735579d8d84e73a374 Mon Sep 17 00:00:00 2001
From: TK <61820360+TomKovac@users.noreply.github.com>
Date: Mon, 20 Apr 2026 15:48:11 +0200
Subject: [PATCH 1/2] Create draft PR for #1113


From 231e3be6f09db9a11326c6b52f4d4c36461cf30e Mon Sep 17 00:00:00 2001
From: TK <61820360+TomKovac@users.noreply.github.com>
Date: Mon, 20 Apr 2026 15:56:19 +0200
Subject: [PATCH 2/2] done

---
 src/components.kuka.robotics/ctrl/src/AxoKrc4_v_5_x_x.st | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc4_v_5_x_x.st b/src/components.kuka.robotics/ctrl/src/AxoKrc4_v_5_x_x.st
index 9d812f143..04ccf225b 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc4_v_5_x_x.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc4_v_5_x_x.st
@@ -29,6 +29,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             _outputsAddress         :   UDINT;  
             _outputsCount           :   UINT;             
             _movementExecuting      :   BOOL;
+            _inputsManualPV         :   BOOL;
         END_VAR
 
         VAR PUBLIC //HEADER
@@ -390,6 +391,14 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             //*******************************************
             _context := THIS.GetContext();
 
+            //*********MOVE**ENABLE**IN**MANUAL*******
+            IF Inputs.Manual  AND NOT _inputsManualPV THEN
+                Outputs.MoveEnable := TRUE;
+            ELSIF NOT Inputs.Manual  AND _inputsManualPV THEN
+                Outputs.MoveEnable := FALSE;
+            END_IF;
+            _inputsManualPV := Inputs.Manual;   
+            //****************************************
             //*************INITIALIZATION*************
             RestoreTask.Run(THIS);
             StopMovementsTask.Run(THIS);