[Solved] Can't upload robot code to Kawasaki D controller

How can I properly close programs and upload code? The error I am getting is:

error:“Cannot excute because the program is already used.”

This is explained perfectly in the AS Programming language reference

Edit: The Kawasaki IDE might have the possibility to download and upload code to the robot. You should give this one a try. KIDE- (5.8 MB)
The Kawasaki IDE also has some options to close all running programs on the robot as well!