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kuka_internals.src
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kuka_internals.src
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;the followings are referenced in $operate.dat
DEF DELETE_BACKWARD_BUFFER ( )
END
DEFFCT INT INTERIMENERGY(STRVAR[256] :IN)
ENDFCT
DEFFCT INT DIAG_START(PAR :OUT,OPT :OUT)
ENDFCT
DEFFCT INT DIAG_STOP()
ENDFCT
DEFFCT EDIAGSTATE GET_DIAGSTATE()
ENDFCT
DEFFCT BOOL GETSYSSTATE(CMD[64] :IN,IPAR :OUT,RPAR :OUT)
ENDFCT
DEFFCT BOOL IS_KEY_PRESSED(KEY :IN)
ENDFCT
DEFFCT CHAR GETCYCDEF(INDEX :IN)
ENDFCT
DEFFCT CHAR GET_DECL_PLACE(VARNAME[80] :IN)
ENDFCT
DEFFCT INT CHECKPIDONRDC()
ENDFCT
DEFFCT RW_RDC_FILE PIDTORDC(STRVAR[470] :IN)
ENDFCT
DEFFCT RW_RDC_FILE DELETE_PID_ON_RDC()
ENDFCT
DEFFCT RW_RDC_FILE CAL_TO_RDC()
ENDFCT
DEFFCT RW_MAM_FILE SET_MAM_ON_HD(VALUES :IN)
ENDFCT
DEFFCT RW_MAM_FILE COPY_MAM_HD_TO_RDC()
ENDFCT
DEFFCT RW_RDC_FILE CREATE_RDC_ARCHIVE()
ENDFCT
DEFFCT RW_RDC_FILE RESTORE_RDC_ARCHIVE()
ENDFCT
DEFFCT RW_RDC_FILE DELETE_RDC_CONTENT()
ENDFCT
DEFFCT RW_RDC_FILE RDC_FILE_TO_HD(FILENAME[128] :IN)
ENDFCT
DEFFCT INT CHECK_MAM_ON_RDC()
ENDFCT
DEFFCT RDC_FS_STATE GET_RDC_FS_STATE()
ENDFCT
DEFFCT INT SET_SYSTEM_DATA(OWNER_NAME[16] :IN,OWNER_AXNAME[5] :IN,VAR_NAME[64] :IN,VALUE :IN)
ENDFCT
DEFFCT INT SET_SYSTEM_DATA_DELAYED(OWNER_NAME[16] :IN,OWNER_AXNAME[5] :IN,VAR_NAME[64] :IN,VALUE :IN)
ENDFCT
DEFFCT REAL GET_SYSTEM_DATA(OWNER_NAME[16] :IN,OWNER_AXNAME[5] :IN,VAR_NAME[64] :IN,VALUE :IN)
ENDFCT
DEF ERR_CLEAR (PERR :OUT )
END
DEF ERR_RAISE (PERR :OUT )
END
DEFFCT REAL ABS(X :IN)
ENDFCT
DEFFCT REAL SQRT(X :IN)
ENDFCT
DEFFCT REAL SIN(X :IN)
ENDFCT
DEFFCT REAL COS(X :IN)
ENDFCT
DEFFCT REAL TAN(X :IN)
ENDFCT
DEFFCT REAL ACOS(X :IN)
ENDFCT
DEFFCT REAL ATAN2(X :IN,Y :IN)
ENDFCT
DEFFCT INT MBX_REC(MBX_ID :IN,MESS :OUT)
ENDFCT
DEFFCT FRAME TOOL_ADJ(X :OUT)
ENDFCT
DEFFCT FRAME EK(TKRWE :IN,EXKIN :IN,TBAFL :IN)
ENDFCT
DEFFCT FRAME LK(ROOT :IN,IP_ADDR[24] :IN,OFFSET :IN,EXKIN :IN)
ENDFCT
DEFFCT E6AXIS INVERSE(TOOLPOS :IN,START_AXIS :IN,STATUS :OUT)
ENDFCT
DEFFCT INT SET_KRL_BP(MODULE[24] :IN,SNR :IN,COUNT :IN,ACTIVE_MODE_OP :IN,ACTIVE_P_INT :IN,ACTIVE_P_INT_MODE :IN)
ENDFCT
DEFFCT INT CHG_KRL_BP(HANDLE :IN,NEWLINE :IN)
ENDFCT
DEFFCT INT CLR_KRL_BP(HANDLE :IN)
ENDFCT
DEFFCT INT CLR_ALL_KRL_BP()
ENDFCT
DEFFCT INT ENABLE_KRL_BP(HANDLE :IN,P_INT_MASK :IN)
ENDFCT
DEFFCT INT DISABLE_KRL_BP(HANDLE :IN)
ENDFCT
DEFFCT E6POS FORWARD(AXVAL :IN,STATUS :OUT)
ENDFCT
DEFFCT E6POS INV_POS(POS_VALUES :IN)
ENDFCT
DEFFCT INT IOCTL(DRVNAME[256] :IN,REQUEST :IN,ARGUMENT :IN)
ENDFCT
DEFFCT INT CIOCTL(HANDLE :IN,REQUEST :IN,ARGUMENT :IN,PARAM[128] :IN,RETVAL :OUT)
ENDFCT
DEFFCT INT SYNC()
ENDFCT
DEFFCT VAR_STATE VARSTATE(VAR_STR[80] :IN)
ENDFCT
DEFFCT BOOL WSPACEGIVE(SPACEID :IN)
ENDFCT
DEFFCT BOOL WSPACETAKE(SPACEID :IN,ADVANCE :IN)
ENDFCT
DEF SYNCCMD (SYNC_T :IN,ID_NAME[64] :IN,COOP_LIST :IN )
END
DEFFCT RET_C_PSYNC_E CANCELPROGSYNC(CMD :IN,ID_NAME[64] :IN)
ENDFCT
DEFFCT BOOL REMOTECMD(IP_ADDR[24] :IN,CMD[128] :IN)
ENDFCT
DEFFCT CHAR REMOTEREAD(IP_ADDR[24] :IN,VARIABLE[128] :IN,ERROR :OUT)
ENDFCT
DEFFCT INT STRLEN(STRVAR[2047] :IN)
ENDFCT
DEFFCT INT STRDECLLEN(STRVAR[2047] :OUT)
ENDFCT
DEFFCT BOOL STRCLEAR(STRVAR[2047] :OUT)
ENDFCT
DEFFCT INT STRADD(STRDEST[2047] :OUT,STRTOADD[2047] :IN)
ENDFCT
DEFFCT INT STRFIND(STARTAT :IN,STRVAR[2047] :IN,STRFIND[2047] :IN,CASE_MODE :IN)
ENDFCT
DEFFCT BOOL STRCOMP(STRCOMP[2047] :IN,STRCOMP2[2047] :IN,CASE_MODE :IN)
ENDFCT
DEFFCT BOOL STRCOPY(STRDEST[2047] :OUT,STRSOURCE[2047] :IN)
ENDFCT
DEFFCT BOOL ISMESSAGESET(MESSAGENO :IN)
ENDFCT
DEFFCT BOOL TIMER_LIMIT(SECONDS :IN)
ENDFCT
DEFFCT INT SET_KRLMSG(TYPE :IN,MSG :OUT,PAR[3] :OUT,OPT :OUT)
ENDFCT
DEFFCT BOOL EXISTS_KRLMSG(NHANDLE :IN)
ENDFCT
DEFFCT BOOL CLEAR_KRLMSG(NHANDLE :IN)
ENDFCT
DEFFCT INT SET_KRLDLG(MSG :OUT,PAR[3] :OUT,SK[7] :OUT,OPT :OUT)
ENDFCT
DEFFCT BOOL SET_KRLDLGANSWER(NHANDLE :IN,ANSWERSK :IN)
ENDFCT
DEFFCT BOOL EXISTS_KRLDLG(NHANDLE :IN,ANSWER :OUT)
ENDFCT
DEFFCT INT GET_MSGBUFFER(MSGBUF[100] :OUT)
ENDFCT
DEFFCT BOOL STRTOREAL(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT BOOL STRTOBOOL(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT BOOL STRTOINT(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT BOOL STRTOSTRING(STRVAR[256] :IN,RETVAL[256] :OUT)
ENDFCT
DEFFCT BOOL STRTOFRAME(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT BOOL STRTOPOS(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT BOOL STRTOE3POS(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT BOOL STRTOE6POS(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT BOOL STRTOAXIS(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT BOOL STRTOE3AXIS(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT BOOL STRTOE6AXIS(STRVAR[256] :IN,RETVAL :OUT)
ENDFCT
DEFFCT VAR_TYPE VARTYPE(VAR_STR[80] :IN)
ENDFCT
DEFFCT REAL FRAND(MIN_VAL :IN,MAX_VAL :IN)
ENDFCT
DEFFCT INT GETVARSIZE(MESSAGENO :IN)
ENDFCT
DEFFCT INT MAXIMIZE_USEDXROBVERS()
ENDFCT
DEFFCT INT SET_USEDXROBVERS(MAJORVERS :IN,MINORVERS :IN)
ENDFCT
DEFFCT INT SET_OPT_FILTER(TARGETPOS :IN)
ENDFCT
;the followings are defined in operate_r1.dat
DEFFCT INT SET_BRAKE_DELAY(AXES :IN,BRAKEDELAY :IN)
ENDFCT
DEFFCT BRAKE_STATE TEST_BRAKE(AXES :IN,FORCE :IN)
ENDFCT
DEFFCT INT GET_AXESMASK(AXESMASKINFO :IN)
ENDFCT
DEFFCT REAL GET_BRAKETEST_TIME(BRAKETEST_TIMEINFO :IN)
ENDFCT
DEFFCT BOOL ROB_STOP(TYPE :IN)
ENDFCT
DEF ROB_STOP_RELEASE ( )
END
DEFFCT VMERROR VECTORMOVEON(STRATEGY :IN,DIRECTION :IN,PARAMETERS :IN)
ENDFCT
DEFFCT VMERROR ADVANCEDVECTORMOVEON(STRATEGY :IN,DIRECTION :IN,PARAMETERS :IN,PARAMETERS_PULL :IN,PARAMETERS_PUSH :IN)
ENDFCT
DEFFCT VMERROR VECTORMOVEOFF(OPTION :IN)
ENDFCT
DEF SUPPRESS_REPOSITIONING ( )
END
DEFFCT VMERROR VECTORMOVEZEROVELOCITY(GAIN :IN,NO_GAIN_DISTANCE :IN,FULL_GAIN_DISTANCE :IN,TIME_DELAY :IN)
ENDFCT
DEF SET_TORQUE_LIMITS (AXIS_NR :IN,VALUES :IN )
END
DEF RESET_TORQUE_LIMITS (AXIS_NR :IN )
END
DEF ACTIVATE_FORCE_MODE (AXIS_NR :IN,TARGET_FORCE :IN,PART_POSITION :IN,CONST_SPEED_USER :IN )
END
DEFFCT MBW_RESULT MOVE_BACKWARD(TARGET :IN,OFFSET :IN)
ENDFCT
DEFFCT MBW_RESULT MOVE_FORWARD(TARGET :IN,OFFSET :IN)
ENDFCT