| absmaxdownspeed |
kuka |
|
| absmaxupspeed |
kuka |
|
| accspd |
kuka |
|
| aerger |
kuka |
|
| allpos |
kuka |
logindex |
| all_stop |
kuka |
|
| auto |
kuka |
|
| autolog |
kuka |
|
| axlog |
kuka |
|
| axmax |
kuka |
|
| axtestlog |
kuka |
|
| base |
kuka |
|
| beginseq |
kuka |
|
| brake |
kuka |
|
| brdistfakt |
kuka |
|
| 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*} {***************************************************************} |
| com |
kuka |
|
| comreadch_c |
kuka |
|
| comwritech_c |
kuka |
|
| comwrite_c |
kuka |
|
| condition |
kuka |
|
| conditionmode |
kuka |
|
| confirmbeep |
kuka |
{*beep all beepers to confirm keypress*} {***************************************************************} |
| ctrlmode |
kuka |
|
| cubeinfo |
kuka |
|
| cubemode |
kuka |
|
| 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 |
|
| currentprg |
kuka |
|
| currentsub |
kuka |
|
| cval |
kuka |
|
| dac |
kuka |
|
| dac_oen |
kuka |
|
| dac_oen_val |
kuka |
|
| dac_sh |
kuka |
|
| deletepos |
kuka |
{*delete current position and write to disk*} {***************************************************************} |
| dio1 |
kuka |
*hardware adresses* |
| dio2 |
kuka |
|
| dio3 |
kuka |
|
| dir |
kuka |
|
| disable_enc_reset |
kuka |
{*clear bits for encoder reset enable and write them*} {***************************************************************} |
| dist |
kuka |
|
| di_val1 |
kuka |
|
| di_val2 |
kuka |
|
| di_val3 |
kuka |
|
| dologview |
kuka |
|
| dop1 |
kuka |
|
| dop1_val |
kuka |
|
| dop2 |
kuka |
|
| dopmode |
kuka |
{*change dig out directly, will be obsolete*} {***************************************************************} |
| dop_active |
kuka |
|
| down |
kuka |
|
| do_log |
kuka |
|
| do_log_lower |
kuka |
|
| do_log_upper |
kuka |
|
| do_val |
kuka |
|
| driveon |
kuka |
|
| enable_enc_reset |
kuka |
{*set bits for encoder reset enable and write them*} {***************************************************************} |
| enc1 |
kuka |
|
| enc2 |
kuka |
|
| enc3 |
kuka |
|
| enc_res |
kuka |
|
| extport |
kuka |
|
| first |
kuka |
|
| flash |
kuka |
{*all purpose bitflasher or so*} {***************************************************************} |
| gclosed |
kuka |
|
| 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*} |
| gopen |
kuka |
*gripper modes* |
| gopos |
kuka |
|
| gripper |
kuka |
|
| gripper_finished |
kuka |
|
| gripstate |
kuka |
|
| griptime |
kuka |
|
| griptimer |
kuka |
|
| griptmp |
kuka |
|
| gripwaittime |
kuka |
*wait for gripper* |
| hand |
kuka |
*general modes* |
| i |
kuka |
|
| inifile |
kuka |
|
| init |
kuka |
{*initialize machine*} {***************************************************************} |
| input |
kuka |
|
| insertpos |
kuka |
{*insert duplicate after current step and write to disk*} {***************************************************************} |
| inttostr |
kuka |
{*function inttostr(i:longint):string;*} |
| j |
kuka |
|
| k |
kuka |
|
| keys_enabled |
kuka |
|
| keytimer |
kuka |
|
| labelmode |
kuka |
|
| lastax |
kuka |
graph, |
| lastrandomidx |
kuka |
|
| ledarray |
kuka |
|
| linmode |
kuka |
|
| linspd |
kuka |
|
| listfiles |
kuka |
{*list .dat files in c:\kukaprg*} {***************************************************************} |
| listmode |
kuka |
|
| loadlog |
kuka |
{**************************************************************} |
| loadzeropos |
kuka |
{*set target to all zero*} {***************************************************************} |
| logcount |
kuka |
|
| logentry |
kuka |
|
| logmax |
kuka |
|
| lognr |
kuka |
|
| log_it |
kuka |
{***************************************************************} |
| m |
kuka |
|
| maindel |
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*} {***************************************************************} |
| manual |
kuka |
|
| man_spd_idx |
kuka |
|
| man_speed |
kuka |
|
| max |
kuka |
|
| maxdownspeed |
kuka |
|
| maxupspeed |
kuka |
|
| minaccdownspeed |
kuka |
|
| minaccupspeed |
kuka |
|
| mindownspeed |
kuka |
|
| minupspeed |
kuka |
|
| modifypos |
kuka |
{*modify position set to current and save to disk*} {***************************************************************} |
| nachlauf |
kuka |
|
| nc_ready |
kuka |
|
| newfile |
kuka |
{*create new program file*} {***************************************************************} |
| nextrandomidx |
kuka |
|
| nextstep |
kuka |
|
| oldaerger |
kuka |
|
| oldgripstate |
kuka |
|
| oldrefmode |
kuka |
|
| oldsval |
kuka |
|
| oldswitches |
kuka |
|
| old_all_stop |
kuka |
|
| old_di_val1 |
kuka |
|
| old_di_val2 |
kuka |
|
| old_di_val3 |
kuka |
|
| old_pgm_mode |
kuka |
|
| opengripper |
kuka |
{***************************************************************} |
| originpos |
kuka |
|
| ovr |
kuka |
|
| params |
kuka |
*params[0]=program_max* |
| pgm_mode |
kuka |
|
| pos |
kuka |
|
| posfile |
kuka |
|
| posstr |
kuka |
|
| prefix |
kuka |
|
| preparenextsubstep |
kuka |
{*put coordinates into target var*} {*prepare next step in listmode subvalues, insert safe steps if subseqstart*} |
| preval |
kuka |
|
| program_first |
kuka |
|
| program_last |
kuka |
|
| program_max |
kuka |
|
| program_mode |
kuka |
|
| program_pos |
kuka |
|
| program_step |
kuka |
|
| ramp |
kuka |
|
| ramplog |
kuka |
ramp:byte; |
| randomstep |
kuka |
|
| refmode |
kuka |
|
| refok |
kuka |
|
| rmanual |
kuka |
|
| safecount |
kuka |
|
| safenow |
kuka |
|
| safeposition |
kuka |
|
| sak |
kuka |
|
| sak_na |
kuka |
*sak status* |
| sak_no |
kuka |
|
| sak_ok |
kuka |
|
| saveposfile |
kuka |
{*write program to disk*} {***************************************************************} |
| scr_dir |
kuka |
|
| scr_dist |
kuka |
|
| scr_drive |
kuka |
|
| scr_go |
kuka |
|
| scr_info |
kuka |
|
| scr_lognr |
kuka |
|
| scr_menu |
kuka |
|
| scr_mode |
kuka |
|
| scr_ovr |
kuka |
|
| scr_pos |
kuka |
|
| scr_pos2 |
kuka |
|
| scr_ref |
kuka |
|
| scr_sak |
kuka |
|
| scr_speed |
kuka |
|
| scr_target |
kuka |
|
| scr_targets |
kuka |
|
| scr_time |
kuka |
|
| scr_val_top |
kuka |
*screen positions* |
| selmode |
kuka |
|
| sel_ax |
kuka |
|
| sendstatus |
kuka |
{*send status to schleicher uhg and cube control*} {***************************************************************} |
| sercount |
kuka |
|
| serialdiv |
kuka |
log:array[4..6,0..3200] of logentry; |
| service |
kuka |
|
| ser_in |
kuka |
|
| ser_in2 |
kuka |
|
| 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*} {***************************************************************} |
| single |
kuka |
|
| slotime |
kuka |
|
| slotimer |
kuka |
|
| slow |
kuka |
|
| slowmode |
kuka |
|
| spd_div |
kuka |
|
| speed |
kuka |
|
| statcount |
kuka |
|
| step |
kuka |
integer; |
| stop |
kuka |
*motion status* |
| storedpos |
kuka |
|
| subinfo |
kuka |
|
| sublabels |
kuka |
|
| subprgcount |
kuka |
|
| subprg_idx |
kuka |
|
| subseq |
kuka |
|
| subseqcount |
kuka |
|
| subseqend |
kuka |
|
| subseqstart |
kuka |
|
| subseq_idx |
kuka |
|
| subshow |
kuka |
{*debug *} |
| substarts |
kuka |
|
| subvalues |
kuka |
|
| sval |
kuka |
|
| switches |
kuka |
|
| swmax |
kuka |
|
| swmin |
kuka |
|
| target |
kuka |
|
| targetgripstate |
kuka |
|
| targets |
kuka |
*listmode* |
| temppos |
kuka |
|
| testpos |
kuka |
{*check ax position, correct speeds or stop*} {***************************************************************} |
| time |
kuka |
|
| timer |
kuka |
|
| tlname |
kuka |
|
| trackspeed |
kuka |
|
| trigger |
kuka |
{*trigger for oscilloscope on external port*} {***************************************************************} |
| up |
kuka |
|
| updatesubstarts |
kuka |
{*redo subprg list*} |
| val1 |
kuka |
|
| videowait |
kuka |
|
| video_playing |
kuka |
|
| wait |
kuka |
|
| waitforinput |
kuka |
|
| waittime |
kuka |
*wait between pgm steps* |
| winput |
kuka |
|
| writeleds |
kuka |
{*write led status to schleicher uhg*} {***********************************************************} |
| write_enc_opts |
kuka |
{*for encoder reset enable, not used yet*} {***************************************************************} |
| zeropos |
kuka |
subseqmode:boolean; |