KUKA-Subprograms-and-Functions.pdf
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Description
Global
Path
Type
function
Yes
Built-in
REAL
function
Yes
Built-in
REAL
function
Yes
Built-in
REAL
function
Yes Yes
Built-in
RET_C_PSYNC_E
Built-in
function function
Yes
Built-in
RW_MAM_FILE INT
function
Yes
Built-in
INT
function
Yes Yes Yes Yes
Built-in
BOOL
Built-in
Built-in
Built-in
function
RW_MAM_FILE
function
RW_MAM_FILE
function
Yes
Built-in
REAL
function
FRAME
function
FRAME
function
Yes
Built-in
FRAME
function
INT
function
INT
function
INT
function
REAL
subprogram Yes
Built-in
subprogram Yes
Built-in
Yes
Built-in
function
INT
function
BOOL
function
BOOL
function
Yes
Built-in
function
E!POS C"AR#$%&
function
Yes
Built-in
INT
function
Yes Yes
Built-in
SI'INF
Built-in
C"AR#()%& BOOL
function
Yes
Built-in
INT
function
Yes
Built-in
E!POS
function
Yes
Built-in
E!A*IS
function function
Yes Yes
Built-in
Built-in
INT BOOL
function
Yes
Built-in
BOOL
function function
function
FRAME
subprogram function
INT
function
INT
function
M+_STATE
subprogram function Yes
Built-in
INT
function
Yes
Built-in
INT
function
Yes
Built-in
BOOL
function
Yes
Built-in
C"AR#,-!&
function
Yes
Built-in
INT
function function
BOOL
Yes
Built-in
INT
function
RW_MAM_FILE
function
INT
function
Yes
Built-in
REAL
function
Yes
Built-in
REAL
function
Yes
Built-in
INT
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
INT
function
Yes
Built-in
INT
function
Yes
Built-in
INT
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
function
Yes Yes
Built-in
BOOL
Built-in
function
INT
subprogram function
Yes
Built-in
function
REAL BOOL
function
Yes
Built-in
FRAME
function
Yes
Built-in
.AR_STATE
function
Yes
Built-in
.AR_TYPE
function
Yes
Built-in
BOOL
function
Yes
Built-in
BOOL
Declaration ABS /REAL * :IN0 ACOS /REAL * :IN0 ATAN2 /REAL * :IN1 REAL Y :IN0 CANCELPROGSYNC /CANCEL_PSYNC_E CM+:IN1C"AR I+_NAME#!(&:IN0 CCLOSE /INT "AN+LE1 STATE_T STATE0 CHECK_MAM_ON_RDC /0 CHECKPIDONRDC /0 CIOCTL /INT "AN+LE :IN1 INT RE23EST:IN1 INT AR'3MENT :IN1 C"AR PARAM#4,$& :IN1 INT RET.AL :OU CLEAR_KRLMSG /INT N"AN+LE:IN0 COPEN /5C"ANNEL_NAME1 INT "AN+LE0 CREAD /INT "AN+LE1 STATE_T STATE1 MO+3S_T MO+E1 INT TIMEO3T1 REAL OFFSET1 C"AR FORMAT1 .A CWRITE /INT "AN+LE1 STATE_T STATE1 MO+3S_T MO+E1 INT TIMEO3T1 REAL OFFSET1 C"AR FORMAT1 . COPY_MAM_HD_TO_RDC /0 COPY_MAM_RDC_TO_HD /0 COS /REAL * :IN0 EB /FRAME ROOT :IN1 C"AR +E.NAME#67& :IN1 FRAME OFFSET :IN1INT S"IFTFRAME :IN0 EB_TEST /FRAME ROOT :IN1 C"AR +E.ICE_NAME#67& :IN1 FRAME OFFSET :IN1 INT FRAME_NR :IN1 BOOL EK /FRAME T8RWE :IN1ESYS E*8IN :IN1FRAME TBAFL :IN0 EMI_ENDPOS /C"AR +E._NAME#67& :IN1 C"AR FILE_NAME#6,& :IN1 E!POS EN+_POS :OUT1 E!A*IS EN+_ EMI_RECSTATE /C"AR +E._NAME#67&:IN1 C"AR FILE_NAME#6,& :IN0 EMI_STARTPOS /C"AR +E._NAME#67& :IN1 C"AR FILE_NAME#6,& :IN1 E!POS START_POS :OUT1 E!A*IS ST EO / C"AR +E.ICE_NAME#67& :IN1 REAL OFFSET :IN 0 ERR_CLEAR /ERROR_T PERR :OUT0 ERR_RAISE /ERROR_T PERR :OUT0 EXECFUNC / C"AR FNAME#4!& :OUT1 INT IPAR#6,&:OUT1 REAL RPAR#6,& :OUT1 C"AR MS'#$%& :OUT 0 EXISTS_KRLDLG /INT N"AN+LE:IN1 INT ANSWER :OUT0 EXISTS_KRLMSG /INT N"AN+LE:IN0 FORWARD /E!A*IS A*.AL :IN1 INT STAT3S :OUT0 GET_DECL_PLACE /C"AR .ARNAME#$%& :IN0 GET_MSGBUFFER /MS'B3F_T MS'B3F#4%%&:OUT0 GET_SIG_INF /C"AR SI'NAME#,(&:IN0 GETCYCDEF /INT IN+E*:IN0 GETSYSSTATE /C"AR CM+#!(& :IN1 INT IPAR :OUT1 REAL RPAR :OUT0 GETVARSIZE / SYS_.ARS MESSA'ENO:IN 0 INV_POS /E!POS POS_.AL3ES :IN0 INVERSE /E!POS TOOLPOS :IN1 E!A*IS START_A*IS :IN1 INT STAT3S :OUT0 IOCTL /INT +R.I+ :IN1 INT RE23EST :IN1 INT AR'3MENT :IN0 IS_KEY_PRESSED /INT 8EY:IN0 ISMESSAGESET /INT MESSA'ENO:IN0 LK /FRAME ROOT:IN1C"AR IP_A++R#4-&:IN1FRAME OFFSET:IN1ESYS E*8IN:IN0 M_COMMENT/C"AR M_T*T#4,$& :IN0 MBX_REC /INT MB*_I+ :IN1STOPMESS MESS :OUT0 MD_CMD /C"AR +E._NAME#67& :IN1 C"AR CM+_STRIN'#!(& :IN1 INT INT_PARAM#4!& :OUT1 REAL REAL_ MD_GETSTATE /C"AR +E.NAME#67& :IN0
MD_SETSTATE /C"AR +E.NAME#67& :IN1 M+_STATE STATE :IN0 PIDTOHD/INT ABSACC3RFLA' :IN0 PIDTORDC/C"AR STR.AR#()%& :IN0 PULSE /INT SI'NAL1 BOOL STATE1 REAL TIME0 REMOTECMD /C"AR IP_A++R#4-& :IN1C"AR CM+#4,$& :IN0 REMOTEREAD /C"AR IP_A++R#4-& :IN1 C"AR .ARIABLE#4,$& :IN1 INT ERROR :OUT0 SET_KRLDLG /8RLMS'_T MS':OUT18RLMS'PAR_T PAR#6&:OUT1 8RLMS'+L'S8_T S8#)&:OUT1 8RLMS' SET_KRLDLGANSWER /INT N"AN+LE:IN1 INT ANSWERS8 :IN0 SET_KRLMSG /E8RLMS'TYPE TYPE:IN1 8RLMS'_T MS':OUT18RLMS'PAR_T PAR#6&:OUT1 8RLMS'OPT SET_MAM_ON_HD/E!A*IS .AL3ES:IN0 SET_OPT_FILTER /E!POS TAR'ETPOS:IN0 SIN /REAL * :IN0 SQRT /REAL * :IN0 STRADD /C"AR STR+EST#()%&:OUT1 C"AR STRTOA++#()%& :IN0 STRCLEAR /C"AR STR.AR#()%& :OUT0 STRCOMP /C"AR STRCOMP#()%& :IN1 C"AR STRCOMP,#()%& :IN1 CASE_SENSE_T CASE_MO+E:IN0 STRCOPY /C"AR STR+EST#()%& :OUT1 C"AR STRSO3RCE#()%& :IN0 STRDECLLEN /C"AR STR.AR#()%& :OUT0 STRFIND /INT STARTAT:IN1 C"AR STR.AR#()%& :IN1 C"AR STRFIN+#()%& :IN1 CASE_SENSE_T CASE_MO+E:I STRLEN /C"AR STR.AR#()%& :IN0 STRTOAXIS /C"AR STR.AR#,-!& :IN1 A*IS RET.AL:OUT0 STRTOBOOL /C"AR STR.AR#,-!& :IN1 BOOL RET.AL:OUT0 STRTOE3AXIS /C"AR STR.AR#,-!& :IN1 E6A*IS RET.AL:OUT0 STRTOE3POS /C"AR STR.AR#,-!& :IN1 E6POS RET.AL:OUT0 STRTOE6AXIS /C"AR STR.AR#,-!& :IN1 E!A*IS RET.AL:OUT0 STRTOE6POS /C"AR STR.AR#,-!& :IN1 E!POS RET.AL:OUT0 STRTOFRAME /C"AR STR.AR#,-!& :IN1 FRAME RET.AL:OUT0 STRTOINT /C"AR STR.AR#,-!& :IN1 INT RET.AL:OUT0 STRTOPOS /C"AR STR.AR#,-!& :IN1 POS RET.AL:OUT0 STRTOREAL /C"AR STR.AR#,-!& :IN1 REAL RET.AL:OUT0 STRTOSTRING /C"AR STR.AR#,-!& :IN1 C"AR RET.AL#,-!& :OUT0 SWRITE /C"AR STRIN'1 STATE_T STATE1 INT OFFSET1 C"AR FORMAT1 .AR0 SYNC/0 SYNCCMD /SYNCTYPE SYNC_T:IN1C"AR I+_NAME#!(&:IN1INT COOP_LIST:IN0 TAN /REAL * :IN0 TIMER_LIMIT /REAL SECON+S:IN0 TOOL_ADJ /FRAME *0 VARSTATE / C"AR .AR_STR #$%& :IN 0 VARTYPE / C"AR .AR_STR #$%& :IN 0 WSPACEGIVE /INT SPACEI+ :IN0 WSPACETAKE /INT SPACEI+ :IN1 INT A+.ANCE :IN0
Example
Description in English ;Returns the absolut-value of a real ;ACosinus ;Tangens 2 ;Cancel progsync, CANCELALL to cancel all No!ait "rog#yncs, CANCEL$% to cancel only the No!ait "rog#ync na&e ;Closing of channels ;Chec+ if "i' file is on R%C ;$ control function for channels ;%elete a &essage ./## 010 an' higher TR3E4 (essage 'elete', 5AL#E4 (essage coul' not be 'elete' ;pening an inputoutput channel ;Rea'ing of 'ata fro& channels ;!riting 'ata to channels
;Cosinus ;Activate &otion 'river base ;6et &otion 'river base ;E/ Assign&ent ;6et en' position as "#- or A7$#-'ata fro& an E($-%evice .E8ternal (otion $nterface ;6et internal state of an E($ Recor' ;6et start position as "#- or A7$#-'ata fro& an E($-%evice .E8ternal (otion $nterface ;A+tivierung eines Nullpun+t-Achstreibers ;Reset an Error .see NERRR"RCEE% ;Raise an Error .see NERRR"RCEE% ;E8ecute funtion ;Chec+ state of a 'ialog &essage ./## 010 an' higher TR3E4 (essage still in buffer, 5AL#E4 (essage not in buffer .ac+n ;Chec+ state of a &essage .not notify &sg ./## 010 an' higher TR3E4 (essage sti ll in buffer, 5AL#E (essage not in buf ;6et cartesian position fro& A7$#-values ;Returns the nu&ber of &essages in buffer .up : an' 9rites the &essage in the buffer to 3T para&eter (#6
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