All Functions and Procedures

Name Unit Description
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*} {***************************************************************}

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