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Kuka Subprograms and Functions List (V5.

5)
(function) BOOL GETSYSSTATE (CHAR CMD[64]:IN, INT IPAR:OUT, REAL RPAR:OUT) ;Funk
tion gibt den Status des Systems zurck
(function) BOOL IS_KEY_PRESSED (INT KEY:IN) ;TRUE, wenn entsprechende Taste auf
KCP gedrueckt ist
(function) CHAR[470] GETCYCDEF(INT INDEX:IN)[/i]
(function) CHAR[80] GET_DECL_PLACE(CHAR VARNAME[80] :IN) ;Funktion liefert den D
eklarationsort
(function) INT PIDTOHD(INT ABSACCURFLAG :IN) ;Pid File von RDW auf Festplatte (I
R_SPEC Verzeichnis) speichern
(function) INT CHECKPIDONRDC() ;Befindet sich ein Pid File auf der RDW
(function) INT PIDTORDC(CHAR STRVAR[470] :IN) ;Pid File auf RDW abspeichern
(function) RW_MAM_FILE SET_MAM_ON_HD(E6AXIS VALUES:IN) ; Individuelle MAMES-Wert
e auf HD speichern
(function) RW_MAM_FILE COPY_MAM_HD_TO_RDC() ; kopiere mam-File von HD auf RDW
(function) RW_MAM_FILE COPY_MAM_RDC_TO_HD() ; kopiere mam-File von RDW auf HD
(function) RW_MAM_FILE CHECK_MAM_ON_RDC() ; pruefe individuelle MAMES-Offsets au
f RDW
(subprogram) ERR_CLEAR (ERROR_T PERR :OUT) ; Loescht KRL-$Err-Variable
(subprogram) ERR_RAISE (ERROR_T PERR :OUT) ; Verursacht einen definierten Interp
reter-Laufzeitfehler
(function) REAL ABS (REAL X :IN)[/i]
(function) REAL SQRT (REAL X :IN)[/i]
(function) REAL SIN (REAL X :IN)[/i]
(function) REAL COS (REAL X :IN)[/i]
(function) REAL TAN (REAL X :IN)[/i]
(function) REAL ACOS (REAL X :IN)[/i]
(function) REAL ATAN2 (REAL X :IN, REAL Y :IN)[/i]
(function) INT MBX_REC (INT MBX_ID :IN,STOPMESS MESS :OUT)[/i]
(function) FRAME TOOL_ADJ (FRAME X)[/i]
(function) FRAME EK (FRAME TKRWE :IN,ESYS EXKIN :IN,FRAME TBAFL :IN) ;KINEMATIKZ
UWEISUNG
(function) FRAME LK(FRAME ROOT:IN,CHAR IP_ADDR[15]:IN,FRAME OFFSET:IN,ESYS EXKIN
:IN) ;gelinkte Kinematik
(function) E6AXIS INVERSE (E6POS TOOLPOS :IN, E6AXIS START_AXIS :IN, INT STATUS
:OUT)[/i]
(function) E6POS FORWARD (E6AXIS AXVAL :IN, INT STATUS :OUT)[/i]
(function) E6POS INV_POS (E6POS POS_VALUES :IN)[/i]
(function) INT IOCTL (INT DRVID :IN, INT REQUEST :IN, INT ARGUMENT :IN)[/i]
(function) INT CIOCTL (INT HANDLE :IN, INT REQUEST:IN, INT ARGUMENT :IN, CHAR PA
RAM[128] :IN, INT RETVAL :OUT) ;ioCtl fuer Kanaele
(function) INT SYNC()[/i]
(function) VAR_STATE VARSTATE ( CHAR VAR_STR [80] :IN )[/i]
(function) INT EXECFUNC ( CHAR FNAME[16]:OUT, INT IPAR[32]:OUT, REAL RPAR[32]:OU
T, CHAR MSG[80]:OUT )[/i]
(function) BOOL WSPACEGIVE (INT SPACEID :IN) ;FREE A WORKSPACE
(function) BOOL WSPACETAKE (INT SPACEID :IN, INT ADVANCE :IN) ;BLOCK A WORKSPACE
(subprogram) SYNCCMD (SYNCTYPE SYNC_T:IN,CHAR ID_NAME[64]:IN,INT COOP_LIST:IN)[/
i]
(function) RET_C_PSYNC_E CANCELPROGSYNC (CANCEL_PSYNC_E CMD:IN,CHAR ID_NAME[64]:
IN)[/i]
(function) BOOL REMOTECMD (CHAR IP_ADDR[15]:IN,CHAR CMD[128]:IN)[/i]
(function) CHAR[256] REMOTEREAD(CHAR IP_ADDR[15] :IN, CHAR VARIABLE[128] :IN, IN
T ERROR :OUT) ; Lesen eines Variablenwertes auf einer externen Steuerung
(function) INT STRLEN (CHAR STRVAR[470]:IN)[/i]
(function) INT STRDECLLEN (CHAR STRVAR[470]:OUT)[/i]
(function) BOOL STRCLEAR (CHAR STRVAR[470]:OUT)[/i]
(function) INT STRADD (CHAR STRDEST[470]:OUT, CHAR STRTOADD[470]:IN)[/i]
(function) INT STRFIND (INT STARTAT:IN, CHAR STRVAR[470]:IN, CHAR STRFIND[470]

:IN, CASE_SENSE_T CASE_MODE:IN)[/i]


(function) BOOL STRCOMP (CHAR STRCOMP[470]:IN, CHAR STRCOMP2[470]:IN,
CASE_SENSE_T CASE_MODE:IN)[/i]
(function) BOOL STRCOPY (CHAR STRDEST[470]:OUT, CHAR STRSOURCE[470]:IN)[/i]
(function) BOOL ISMESSAGESET (INT MESSAGENO:IN)[/i]
(function) BOOL TIMER_LIMIT (REAL SECONDS:IN)[/i]
(function) INT SET_KRLMSG (EKRLMSGTYPE TYPE:IN, KRLMSG_T MSG:OUT,KRLMSGPAR_T PAR
[3]:OUT, KRLMSGOPT_T OPT:OUT) ;Setzen einer KRL-Meldung
(function) BOOL EXISTS_KRLMSG (INT NHANDLE:IN) ; Meldungs handle auf Existenz pr
uefen
(function) BOOL CLEAR_KRLMSG (INT NHANDLE:IN) ;Loescht eine KRL-Anwendermeldung
(function) INT SET_KRLDLG (KRLMSG_T MSG:OUT,KRLMSGPAR_T PAR[3]:OUT, KRLMSGDLGSK_
T SK[7]:OUT, KRLMSGOPT_T OPT:OUT) ;Setzt einen KRL-Dialog
(function) BOOL SET_KRLDLGANSWER (INT NHANDLE:IN, INT ANSWERSK:IN) ;Setzen der D
ialogantwort durch HMI
(function) BOOL EXISTS_KRLDLG (INT NHANDLE:IN, INT ANSWER:OUT) ;Lesen der Dialog
antwort in KRL
(function) INT GET_MSGBUFFER (MSGBUF_T MSGBUF[100]:OUT) ; Lesen des gesamten Mel
dungspuffers
(function) BOOL STRTOREAL (CHAR STRVAR[256]:IN, REAL RETVAL:OUT) ; Konvertierung
STRING nach REAL
(function) BOOL STRTOBOOL (CHAR STRVAR[256]:IN, BOOL RETVAL:OUT) ; Konvertierung
STRING nach BOOL
(function) BOOL STRTOINT (CHAR STRVAR[256]:IN, INT RETVAL:OUT) ; Konvertierung S
TRING nach INT
(function) BOOL STRTOSTRING (CHAR STRVAR[256]:IN, CHAR RETVAL[256]:OUT) ;Konvert
ierung KRL-String im String in einen String
(function) BOOL STRTOFRAME (CHAR STRVAR[256]:IN, FRAME RETVAL:OUT) ; Konvertieru
ng STRING nach FRAME
(function) BOOL STRTOPOS (CHAR STRVAR[256]:IN, POS RETVAL:OUT) ; Konvertierung S
TRING nach POS
(function) BOOL STRTOE3POS (CHAR STRVAR[256]:IN, E3POS RETVAL:OUT) ; Konvertieru
ng STRING nach E3POS
(function) BOOL STRTOE6POS (CHAR STRVAR[256]:IN, E6POS RETVAL:OUT) ; Konvertieru
ng STRING in E6POS
(function) BOOL STRTOAXIS (CHAR STRVAR[256]:IN, AXIS RETVAL:OUT) ; Konvertierung
STRING nach AXIS
(function) BOOL STRTOE3AXIS (CHAR STRVAR[256]:IN, E3AXIS RETVAL:OUT) ; Konvertie
rung STRING nach E3AXIS
(function) BOOL STRTOE6AXIS (CHAR STRVAR[256]:IN, E6AXIS RETVAL:OUT) ; Konvertie
rung STRING nach E6AXIS
(function) VAR_TYPE VARTYPE ( CHAR VAR_STR [80] :IN )[/i]
(function) INT GETVARSIZE ( SYS_VARS MESSAGENO:IN )[/i]
(function) INT SET_OPT_FILTER (E6POS TARGETPOS:IN)[/i]
(subprogram) MD_SETSTATE (CHAR DEVNAME[39] :IN, MD_STATE STATE :IN) ;SETS STATE
OF MOTION DRIVER DEVICE
(function) MD_STATE MD_GETSTATE (CHAR DEVNAME[39] :IN) ;RETURNS STATE OF MOTION
DRIVER DEVICE
(function) FRAME EB (FRAME ROOT :IN, CHAR DEVNAME[39] :IN, FRAME OFFSET :IN,INT
SHIFTFRAME :IN) ;ACTIVATE MOTION DRIVER BASE
(function) FRAME EB_TEST (FRAME ROOT :IN, CHAR DEVICE_NAME[39] :IN, FRAME OFFSET
:IN, INT FRAME_NR :IN, BOOL VALID :OUT) ;GET MOTION DRIVER BASE
(function) REAL EO ( CHAR DEVICE_NAME[39] :IN, REAL OFFSET :IN ) ; Aktivierung e
ines Nullpunkt-Achstreibers
(function) INT MD_CMD (CHAR DEV_NAME[39] :IN, CHAR CMD_STRING[64] :IN, INT INT_P
ARAM[16] :OUT, REAL REAL_PARAM[16] :OUT) ;EXECUTE MOTION DRIVER COMMAND
(function) INT EMI_ENDPOS (CHAR DEV_NAME[39] :IN, CHAR FILE_NAME[32] :IN, E6POS
END_POS :OUT, E6AXIS END_AXIS :OUT) ;GET END POSITION AS POS- OR AXIS-DATA FROM
AN EMI-DEVICE (EXTERNAL MOTION INTERFACE)
(function) INT EMI_STARTPOS (CHAR DEV_NAME[39] :IN, CHAR FILE_NAME[32] :IN, E6PO

S START_POS :OUT, E6AXIS START_AXIS :OUT) ;GET START POSITION AS POS- OR AXIS-DA
TA FROM AN EMI-DEVICE (EXTERNAL MOTION INTERFACE)
(function) INT EMI_RECSTATE(CHAR DEV_NAME[39]:IN, CHAR FILE_NAME[32]:IN) ;Get in
ternal state of an EMI Record
(function) SIGINF GET_SIG_INF (CHAR SIGNAME[24]:IN) ;RETURNS INFORMATION FOR THE
SIGNAL WITH NAME SIG_NAME
(subprogram) M_COMMENT(CHAR M_TXT[128]:IN) ;Motion Comment