| calcspeeds |
kuka |
{*calculate speeds and start movement*} {***************************************************************} |
| checkax |
kuka |
{*check encoders / call testpos for all ax*} {***************************************************************} |
| checkdist |
kuka |
{*calculate distances for all axes*} {***************************************************************} |
| checkkeys |
kuka |
{*general keyboard input check routine*} {***************************************************************} |
| clearlist |
kuka |
{*clear targets list area on screen*} |
| closegripper |
kuka |
{***************************************************************} |
| clrlcd |
kuka |
{*clear lcd screen on schleicher uhg*} {***********************************************************} |
| clrlcdinv |
kuka |
{*clear inverse mode for subsequent text writes on schleicher uhg*} {***********************************************************} |
| clrled |
kuka |
{*clear single led status in ledarray,call writeleds afterwards*} {***********************************************************} |
| clrstv |
kuka |
{*clr stillstandsvorgabe for axes*} {***************************************************************} |
| comreadch_c |
kuka |
|
| comwritech_c |
kuka |
|
| comwrite_c |
kuka |
|
| confirmbeep |
kuka |
{*beep all beepers to confirm keypress*} {***************************************************************} |
| cube_blink_b |
kuka |
|
| cube_blink_m |
kuka |
|
| cube_blink_none |
kuka |
|
| cube_clr_beep |
kuka |
|
| cube_clr_bled |
kuka |
|
| cube_clr_mled |
kuka |
|
| cube_set_beep |
kuka |
|
| cube_set_bled |
kuka |
|
| cube_set_mled |
kuka |
|
| cube_set_text |
kuka |
|
| deletepos |
kuka |
{*delete current position and write to disk*} {***************************************************************} |
| disable_enc_reset |
kuka |
{*clear bits for encoder reset enable and write them*} {***************************************************************} |
| dologview |
kuka |
|
| dopmode |
kuka |
{*change dig out directly, will be obsolete*} {***************************************************************} |
| enable_enc_reset |
kuka |
{*set bits for encoder reset enable and write them*} {***************************************************************} |
| flash |
kuka |
{*all purpose bitflasher or so*} {***************************************************************} |
| getlabel |
kuka |
{*label input for schleicher, not used*} {***************************************************************} |
| getpos |
kuka |
{*read program*} {***************************************************************} |
| get_enc |
kuka |
{*get real position value, add teilistwert in 2s complement*} {***************************************************************} |
| get_status |
kuka |
{*get status values from hardware*} {***************************************************************} |
| go |
kuka |
{*set axes in motion for real*} |
| init |
kuka |
{*initialize machine*} {***************************************************************} |
| insertpos |
kuka |
{*insert duplicate after current step and write to disk*} {***************************************************************} |
| inttostr |
kuka |
{*function inttostr(i:longint):string;*} |
| listfiles |
kuka |
{*list .dat files in c:\kukaprg*} {***************************************************************} |
| loadlog |
kuka |
{**************************************************************} |
| loadzeropos |
kuka |
{*set target to all zero*} {***************************************************************} |
| log_it |
kuka |
{***************************************************************} |
| makescreen |
kuka |
{*print static parts of screen*} {***************************************************************} |
| makesubprgscreen |
kuka |
{*show subprg with labels, startid and step count*} |
| makesubseqscreen |
kuka |
{*show subsequence positions*} {***************************************************************} |
| maketargetscreen |
kuka |
{*show program positions*} {***************************************************************} |
| modifypos |
kuka |
{*modify position set to current and save to disk*} {***************************************************************} |
| newfile |
kuka |
{*create new program file*} {***************************************************************} |
| opengripper |
kuka |
{***************************************************************} |
| preparenextsubstep |
kuka |
{*put coordinates into target var*} {*prepare next step in listmode subvalues, insert safe steps if subseqstart*} |
| saveposfile |
kuka |
{*write program to disk*} {***************************************************************} |
| sendstatus |
kuka |
{*send status to schleicher uhg and cube control*} {***************************************************************} |
| ser_map |
kuka |
{*key map for schleicher UHG*} {***************************************************************} |
| ser_map2 |
kuka |
{*check input from control box at wrist*} {***************************************************************} |
| ser_map3 |
kuka |
{*check input from video box on com2*} {***************************************************************} |
| ser_transmit |
kuka |
{*how to get 32 bit data over a 7bit connection, not used yet*} {***************************************************************} |
| setcubeinfo |
kuka |
|
| SetCursor |
kuka |
{*set screen cursor on/off*} {***************************************************************} |
| setdop1 |
kuka |
{*set digital relais output value*} {******************************************************} |
| setlcdcur |
kuka |
{*cursor positioning on schleicher uhg*} {***********************************************************} |
| setlcdinv |
kuka |
{*set inverse mode for subsequent text writes on schleicher uhg*} {***********************************************************} |
| setled |
kuka |
{*set single led status in ledarray,call writeleds afterwards*} {***********************************************************} |
| setspeed |
kuka |
{*set speed for axes*} {***************************************************************} |
| setstv |
kuka |
{*set stillstandsvorgabe for axes*} {***************************************************************} |
| set_do |
kuka |
{*set digital outputs*} {***************************************************************} |
| showmode |
kuka |
|
| showsafe |
kuka |
{*show safe position sequence count*} |
| show_status |
kuka |
{*show hardware status*} {***************************************************************} |
| subshow |
kuka |
{*debug *} |
| testpos |
kuka |
{*check ax position, correct speeds or stop*} {***************************************************************} |
| trigger |
kuka |
{*trigger for oscilloscope on external port*} {***************************************************************} |
| updatesubstarts |
kuka |
{*redo subprg list*} |
| writeleds |
kuka |
{*write led status to schleicher uhg*} {***********************************************************} |
| write_enc_opts |
kuka |
{*for encoder reset enable, not used yet*} {***************************************************************} |