Global Path Type

function Yes   Built-in REAL

function Yes   Built-in REAL
function Yes   Built-in REAL
function Yes   Built-in RET_C_PSYNC_E
Yes   Built-in
function RW_MAM_FILE
function Yes   Built-in INT
function Yes   Built-in INT
function Yes   Built-in BOOL
Yes   Built-in
Yes   Built-in
Yes   Built-in
function RW_MAM_FILE
function RW_MAM_FILE
function Yes   Built-in REAL
function FRAME
function FRAME
function Yes   Built-in FRAME
function INT
function INT
function INT
function REAL
subprogram Yes   Built-in
subprogram Yes   Built-in
function Yes   Built-in INT
function BOOL
function BOOL
function Yes   Built-in E!POS
function C"AR#$%&
function Yes   Built-in INT
function Yes   Built-in SI'INF
function Yes   Built-in C"AR#()%&
function BOOL
function Yes   Built-in INT
function Yes   Built-in E!POS
function Yes   Built-in E!A*IS
function Yes   Built-in INT
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function FRAME
subprogram
function INT
function INT
function M+_STATE
subprogram
function Yes   Built-in INT
function Yes   Built-in INT

function Yes   Built-in BOOL

function Yes   Built-in C"AR#,-!&
function Yes   Built-in INT
function BOOL
function Yes   Built-in INT
function RW_MAM_FILE
function INT
function Yes   Built-in REAL
function Yes   Built-in REAL
function Yes   Built-in INT
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in INT
function Yes   Built-in INT
function Yes   Built-in INT
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
function Yes   Built-in BOOL
Yes   Built-in
function INT
subprogram
function Yes   Built-in REAL
function BOOL
function Yes   Built-in FRAME
function Yes   Built-in .AR_STATE
function Yes   Built-in .AR_TYPE
function Yes   Built-in BOOL
function Yes   Built-in BOOL
 Declaration
ABS /REAL * :IN0
ACOS /REAL * :IN0
ATAN2 /REAL * :IN1 REAL Y :IN0
CANCELPROGSYNC /CANCEL_PSYNC_E CM+:IN1C"AR I+_NAME#!(&:IN0
CCLOSE /INT "AN+LE1 STATE_T STATE0
CHECK_MAM_ON_RDC /0
CHECKPIDONRDC /0
CIOCTL /INT "AN+LE :IN1 INT RE23EST:IN1 INT AR'3MENT :IN1 C"AR PARAM#4,$& :IN1 INT RET.AL :OU
CLEAR_KRLMSG /INT N"AN+LE:IN0
COPEN /5C"ANNEL_NAME1 INT "AN+LE0
CREAD /INT "AN+LE1 STATE_T STATE1 MO+3S_T MO+E1 INT TIMEO3T1 REAL OFFSET1 C"AR FORMAT1 .A
CWRITE /INT "AN+LE1 STATE_T STATE1 MO+3S_T MO+E1 INT TIMEO3T1 REAL OFFSET1 C"AR FORMAT1 .
COPY_MAM_HD_TO_RDC /0
COPY_MAM_RDC_TO_HD /0
COS /REAL * :IN0
EB /FRAME ROOT :IN1 C"AR +E.NAME#67& :IN1 FRAME OFFSET :IN1INT S"IFTFRAME :IN0
EB_TEST /FRAME ROOT :IN1 C"AR +E.ICE_NAME#67& :IN1 FRAME OFFSET :IN1 INT FRAME_NR :IN1 BOOL
EK /FRAME T8RWE :IN1ESYS E*8IN :IN1FRAME TBAFL :IN0
EMI_ENDPOS /C"AR +E._NAME#67& :IN1 C"AR FILE_NAME#6,& :IN1 E!POS EN+_POS :OUT1 E!A*IS EN+_ 
EMI_RECSTATE /C"AR +E._NAME#67&:IN1 C"AR FILE_NAME#6,& :IN0
EMI_STARTPOS /C"AR +E._NAME#67& :IN1 C"AR FILE_NAME#6,& :IN1 E!POS START_POS :OUT1 E!A*IS ST
EO / C"AR +E.ICE_NAME#67& :IN1 REAL OFFSET :IN 0
ERR_CLEAR /ERROR_T PERR :OUT0
ERR_RAISE /ERROR_T PERR :OUT0
EXECFUNC / C"AR FNAME#4!& :OUT1 INT IPAR#6,&:OUT1 REAL RPAR#6,& :OUT1 C"AR MS'#$%& :OUT 0
EXISTS_KRLDLG /INT N"AN+LE:IN1 INT ANSWER :OUT0
EXISTS_KRLMSG /INT N"AN+LE:IN0
FORWARD /E!A*IS A*.AL :IN1 INT STAT3S :OUT0
GET_DECL_PLACE /C"AR .ARNAME#$%& :IN0
GET_MSGBUFFER /MS'B3F_T MS'B3F#4%%&:OUT0
GET_SIG_INF /C"AR SI'NAME#,(&:IN0
GETCYCDEF /INT IN+E*:IN0
GETSYSSTATE /C"AR CM+#!(& :IN1 INT IPAR :OUT1 REAL RPAR :OUT0
GETVARSIZE / SYS_.ARS MESSA'ENO:IN 0
INV_POS /E!POS POS_.AL3ES :IN0
INVERSE /E!POS TOOLPOS :IN1 E!A*IS START_A*IS :IN1 INT STAT3S :OUT0
IOCTL /INT +R.I+ :IN1 INT RE23EST :IN1 INT AR'3MENT :IN0
IS_KEY_PRESSED /INT 8EY:IN0
ISMESSAGESET /INT MESSA'ENO:IN0
LK /FRAME ROOT:IN1C"AR IP_A++R#4-&:IN1FRAME OFFSET:IN1ESYS E*8IN:IN0
M_COMMENT/C"AR M_T*T#4,$& :IN0
MBX_REC /INT MB*_I+ :IN1STOPMESS MESS :OUT0
MD_CMD /C"AR +E._NAME#67& :IN1 C"AR CM+_STRIN'#!(& :IN1 INT INT_PARAM#4!& :OUT1 REAL REAL_ 
MD_GETSTATE /C"AR +E.NAME#67& :IN0
MD_SETSTATE /C"AR +E.NAME#67& :IN1 M+_STATE STATE :IN0
PIDTOHD/INT ABSACC3RFLA' :IN0
PIDTORDC/C"AR STR.AR#()%& :IN0
PULSE /INT SI'NAL1 BOOL STATE1 REAL TIME0
REMOTECMD /C"AR IP_A++R#4-& :IN1C"AR CM+#4,$& :IN0
REMOTEREAD /C"AR IP_A++R#4-& :IN1 C"AR .ARIABLE#4,$& :IN1 INT ERROR :OUT0
SET_KRLDLG /8RLMS'_T MS':OUT18RLMS'PAR_T PAR#6&:OUT1 8RLMS'+L'S8_T S8#)&:OUT1 8RLMS'
SET_KRLDLGANSWER /INT N"AN+LE:IN1 INT ANSWERS8 :IN0
SET_KRLMSG /E8RLMS'TYPE TYPE:IN1 8RLMS'_T MS':OUT18RLMS'PAR_T PAR#6&:OUT1 8RLMS'OPT
SET_MAM_ON_HD/E!A*IS .AL3ES:IN0
SET_OPT_FILTER /E!POS TAR'ETPOS:IN0
SIN /REAL * :IN0
SQRT /REAL * :IN0
STRADD /C"AR STR+EST#()%&:OUT1 C"AR STRTOA++#()%& :IN0
STRCLEAR /C"AR STR.AR#()%& :OUT0
STRCOMP /C"AR STRCOMP#()%& :IN1 C"AR STRCOMP,#()%& :IN1 CASE_SENSE_T CASE_MO+E:IN0
STRCOPY /C"AR STR+EST#()%& :OUT1 C"AR STRSO3RCE#()%& :IN0
STRDECLLEN /C"AR STR.AR#()%& :OUT0
STRFIND /INT STARTAT:IN1 C"AR STR.AR#()%& :IN1 C"AR STRFIN+#()%& :IN1 CASE_SENSE_T CASE_MO+E:I
STRLEN /C"AR STR.AR#()%& :IN0
STRTOAXIS /C"AR STR.AR#,-!& :IN1 A*IS RET.AL:OUT0
STRTOBOOL /C"AR STR.AR#,-!& :IN1 BOOL RET.AL:OUT0
STRTOE3AXIS /C"AR STR.AR#,-!& :IN1 E6A*IS RET.AL:OUT0
STRTOE3POS /C"AR STR.AR#,-!& :IN1 E6POS RET.AL:OUT0
STRTOE6AXIS /C"AR STR.AR#,-!& :IN1 E!A*IS RET.AL:OUT0
STRTOE6POS /C"AR STR.AR#,-!& :IN1 E!POS RET.AL:OUT0
STRTOFRAME /C"AR STR.AR#,-!& :IN1 FRAME RET.AL:OUT0
STRTOINT /C"AR STR.AR#,-!& :IN1 INT RET.AL:OUT0
STRTOPOS /C"AR STR.AR#,-!& :IN1 POS RET.AL:OUT0
STRTOREAL /C"AR STR.AR#,-!& :IN1 REAL RET.AL:OUT0
STRTOSTRING /C"AR STR.AR#,-!& :IN1 C"AR RET.AL#,-!& :OUT0
SWRITE /C"AR STRIN'1 STATE_T STATE1 INT OFFSET1 C"AR FORMAT1 .AR0
SYNC/0
SYNCCMD /SYNCTYPE SYNC_T:IN1C"AR I+_NAME#!(&:IN1INT COOP_LIST:IN0
TAN /REAL * :IN0
TIMER_LIMIT /REAL SECON+S:IN0
TOOL_ADJ /FRAME *0
VARSTATE / C"AR .AR_STR #$%& :IN 0
VARTYPE / C"AR .AR_STR #$%& :IN 0
WSPACEGIVE /INT SPACEI+ :IN0
WSPACETAKE /INT SPACEI+ :IN1 INT A+.ANCE :IN0
Example
 Description in English
;Returns the absolut-value of a real 
;ACosinus
;Tangens 2
;Cancel progsync, CANCELALL to cancel all No!ait "rog#yncs, CANCEL$% to cancel only the No!ait "rog#ync na&e
;Closing of channels

;Chec+ if "i' file is on R%C 

;$ control function for channels
;%elete a &essage ./## 010 an' higher TR3E4 (essage 'elete', 5AL#E4 (essage coul' not be 'elete' 
;pening an inputoutput channel 
;Rea'ing of 'ata fro& channels
;!riting 'ata to channels

;Cosinus
;Activate &otion 'river base
;6et &otion 'river base
;E/ Assign&ent 
;6et en' position as "#- or A7$#-'ata fro& an E($-%evice .E8ternal (otion $nterface
;6et internal state of an E($ Recor' 
;6et start position as "#- or A7$#-'ata fro& an E($-%evice .E8ternal (otion $nterface
;A+tivierung eines Nullpun+t-Achstreibers
;Reset an Error .see NERRR"RCEE%
;Raise an Error .see NERRR"RCEE%
;E8ecute funtion
;Chec+ state of a 'ialog &essage ./## 010 an' higher TR3E4 (essage still in buffer, 5AL#E4 (essage not in buffer .ac+n
;Chec+ state of a &essage .not notify &sg ./## 010 an' higher TR3E4 (essage sti ll in buffer, 5AL#E (essage not in buf 
;6et cartesian position fro& A7$#-values

;Returns the nu&ber of &essages in buffer .up : an' 9rites the &essage in the buffer to 3T para&eter (#6<35)*
;Returns infor&ation for the #$6NAL 9ith na&e #$6NA(E 
;6et Cycleflag 'escription

;Returns the si=e of a syste& variable

;6et inverse position
;6et A7$#-values fro& Cartesian position
;$ control function
;TR3E if correspon'ing +ey on /C" is presse' 
;Returns TR3E if a &essage 9ith (E##A6EN is in <355ER
;Lin+e' /ine&atic
;(otion Co&&ent 

;E8ecute &otion 'river co&&an' 

;Returns state of &otion 'river 'evice
;#ets state of &otion 'river 'evice
;#ave "i'-file fro& R%C to >%%
;#ave "i'-file on R%C 
;E8ecute a pulse
;Re&ote C(%
;Rea'ing variable values on a re&ote controller 
;#et a %ialog &essage ./## 010 an' higher (#64 basic &essage inf or&ation, "AR)*4 "ara&eters of a &essage .using ?:

;#et a (essage ./## 010 an' higher TY"E4 +in' of &essage .BNT$5Y111 (#64 basic &essage infor&ation, "AR)*4 "ara

;#inus
;Returns the suare-root of a real 
;A'' string to string 
;Clear string 
;Co&pare t9o strings
;Copy string 
;Re'eclare length of a string 
;5in' string 
;6et length of string 
;Convert #TR$N6 to A7$# 
;Convert #TR$N6 to <L
;Convert #TR$N6 to EDA7$# 
;Convert #TR$N6 to ED"# 
;Convert #TR$N6 to EA7$# 
;Convert #TR$N6 to E"# 
;Convert #TR$N6 to 5RA(E 
;Convert #TR$N6 to $NT 
;Convert #TR$N6 to "# 
;Convert #TR$N6 to REAL
;Convert a /RL-string in a string into a string 
;!riting of 'ata to a variable

;Tangens

;5ree a 9or+space
;<loc+ a 9or+space
 Description in German

;"ruefe in'ivi'uelle (A(E#-ffsets auf R%! 

;<efin'et sich ein "i' 5ile auf 'er R%! 
;ioCtl fuer /anaele
;Loescht eine /RL-An9en'er&el'ung 

;/opiere &a&-5ile von >% auf R%! 

;/opiere &a&-5ile von R%! auf >%

;/ine&ati+=u9eisung 

;Loescht /RL-FErr-Gariable
;Gerursacht einen 'efinierten $nterpreter-Lauf=eitfehler 

;Lesen 'er %ialogant9ort in /RL

;(el'ungs han'le auf E8isten= pruefen

;5un+tion liefert 'en %e+larationsort 

;Lesen 'es gesa&ten (el'ungspuffers

;5un+tion gibt 'en #tatus 'es #yste&s =urHc+ 

;TR3E, 9enn entsprechen'e Taste auf /C" ge'ruec+t ist 

;6elin+te /ine&ati+ 
;"i' 5ile von R%! auf 5estplatte .$R#"EC Ger=eichnis speichern
;"i' 5ile auf R%! abspeichern

;Lesen eines Gariablen9ertes auf einer e8ternen #teuerung 

;#et=t einen /RL-%ialog 
;#et=en 'er %ialogant9ort 'urch >($ 
;#et=en einer /RL-(el'ung 
;$n'ivi'uelle (A(E#-!erte auf >% speichern

;/onvertierung #TR$N6 nach A7$# 

;/onvertierung #TR$N6 nach <L
;/onvertierung #TR$N6 nach EDA7$# 
;/onvertierung #TR$N6 nach ED"# 
;/onvertierung #TR$N6 nach EA7$# 
;/onvertierung #TR$N6 in E"# 
;/onvertierung #TR$N6 nach 5RA(E 
;/onvertierung #TR$N6 nach $NT 
;/onvertierung #TR$N6 nach "# 
;/onvertierung #TR$N6 nach REAL
;/onvertierung /RL-#tring i& #tring in einen #tring 
The system function INVERSE() calculate the a)ial specific position,
The first parameters are the cartesian position of the ro9ot and the start a)ial specific positio
The second parameter is an error status

System internal function declaration:

EXTFCTP E6AXIS INVESE !E6P"S P"SITI"N: IN# E6AXIS STAT$AXIS: IN# INT STAT%

'EC( E6P"S CartPos

'EC( E6AXIS A)isPos
INT Status

 A)isPos*+Pos$Act
CartPos*+Pos$Act
CartPos,X* CartPos,X-./,/ 0) direction plus ./ mm

 A)isValue*In1erse!CartPos# A)isPos# Status&

If !Status 23 /& then

halt 0 E"
endif 

The last parameter is the error status# 1alue e4ual / calculation is o,5,

Folloin7 error codes e)ist:

not all ro9ot an7le

8: E$STAT%S 9esit;t noch
8>: +?ASE !ad1ance& in1alid,
8@: +T""( !ad1ance& in1alid,

/ no error# calculation is o,5,

S=8end sitch at d
Error of the r math,

· Eternal a)is 9oth in form of a ro9root 5inematic and as a 9ase 5inematic correctly are
 of the e)ternal a)is,

: "%T&

r e)ternal a)is an7le are defined,

einen 7<lti7en =ert,

efined shear an7les inBured, !"nly possi9le if E$STAT%S as at selection time ?it
trafo function

considered,
/ * /,&