库卡的功能函数和子程序（可能是完整的吧）完整列表

Hi everybody,

Here is what I *think* is a complete list of all functions and subprograms defined by Kuka, even the hidden ones. As you 

will see, some have a German comment attached to it. A quick google translate could help understanding them. I've done a 

tool in order to do that automatically for you and I am about to give it to the community (I will put it in the 

"Manuals, Software and Tools for KUKA Robots" section when done). The tool is a simple executable file that you run on 

the controller. It searches and gives the complete list for a given controller in HTML format. I will try to add system 

variables when I will have the time. A lot of them (functions/subs) are already known, but some of them seems pretty new 

to me. Here is a sample output:

Kuka Subprograms and Functions List (V5.5)

(function) BOOL GETSYSSTATE (CHAR CMD[64]:IN, INT IPAR:OUT, REAL RPAR:OUT) ;Funktion gibt den Status des Systems zurück

(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 Deklarationsort

(function) INT PIDTOHD(INT ABSACCURFLAG :IN) ;Pid File von RDW auf Festplatte (IR_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-Werte 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 auf RDW

(subprogram) ERR_CLEAR (ERROR_T PERR :OUT) ; Loescht KRL-$Err-Variable

(subprogram) ERR_RAISE (ERROR_T PERR :OUT) ; Verursacht einen definierten Interpreter-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) ;KINEMATIKZUWEISUNG

(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 PARAM[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]:OUT, 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, INT  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 pruefen

(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 Dialogantwort durch HMI

(function) BOOL EXISTS_KRLDLG (INT NHANDLE:IN, INT ANSWER:OUT) ;Lesen der Dialogantwort in KRL

(function) INT GET_MSGBUFFER (MSGBUF_T MSGBUF[100]:OUT) ; Lesen des gesamten Meldungspuffers

(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 STRING nach INT

(function) BOOL STRTOSTRING (CHAR STRVAR[256]:IN, CHAR RETVAL[256]:OUT) ;Konvertierung KRL-String im String in einen 

String

(function) BOOL STRTOFRAME (CHAR STRVAR[256]:IN, FRAME RETVAL:OUT) ; Konvertierung STRING nach FRAME

(function) BOOL STRTOPOS (CHAR STRVAR[256]:IN, POS RETVAL:OUT) ; Konvertierung STRING nach POS

(function) BOOL STRTOE3POS (CHAR STRVAR[256]:IN, E3POS RETVAL:OUT) ; Konvertierung STRING nach E3POS

(function) BOOL STRTOE6POS (CHAR STRVAR[256]:IN, E6POS RETVAL:OUT) ; Konvertierung 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) ; Konvertierung STRING nach E3AXIS

(function) BOOL STRTOE6AXIS (CHAR STRVAR[256]:IN, E6AXIS RETVAL:OUT) ; Konvertierung 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 eines Nullpunkt-Achstreibers

(function) INT MD_CMD (CHAR DEV_NAME[39] :IN, CHAR CMD_STRING[64] :IN, INT INT_PARAM[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, E6POS START_POS :OUT, E6AXIS START_AXIS 

:OUT) ;GET START POSITION AS POS- OR AXIS-DATA FROM AN EMI-DEVICE (EXTERNAL MOTION INTERFACE)

(function) INT EMI_RECSTATE(CHAR DEV_NAME[39]:IN, CHAR FILE_NAME[32]:IN) ;Get internal 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

I hope this will help us go further in our understanding on how to program our *favorite* (really?) controller.