I have Released the code! Open-source KUKA User Interface
GitHub Link: https://github.com/mahyaret/KUKA-UI
May 10/2017: Repairing KUKA LWR IV
Our KUKA LWR IV hit its table very hard and one of the joints stopped moving afterward. The defected joint was wobbling as the following video shows:
My friend Nik and I opened the defected joint. Motor/brake screws got loose in their positions. The screws and threads looked fine so we fastened them tightly and assembled back everything.