1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
|
; ****************************************************************************
; Definition der Parameter - Pattern
;
;NoParamSingle
;ParamSingle1
;ParamSingle2
;ParamSingle3
;ParamSingle4
;ParamSingle5
;ParamSingle6
;
; ****************************************************************************
; Definition der Messages
; Format:
; DefMsg <Modul>, <MsgName>, <Anzahl Parameter>, <Parameter - Pattern>
;
DefMsg Rob, MoveAB , 1, NoParamSingle
DefMsg Rob, MoveAS , 1, NoParamSingle
DefMsg Rob, MoveAE , 1, NoParamSingle
DefMsg Rob, MoveARW , 1, NoParamSingle
DefMsg Rob, MoveALW , 1, NoParamSingle
DefMsg Rob, MoveAH , 1, NoParamSingle
DefMsg Rob, MoveAPos1 , 3, NoParamSingle
DefMsg Rob, MoveAPos2 , 3, NoParamSingle
DefMsg Rob, MoveRB , 1, NoParamSingle
DefMsg Rob, MoveRS , 1, NoParamSingle
DefMsg Rob, MoveRE , 1, NoParamSingle
DefMsg Rob, MoveRRW , 1, NoParamSingle
DefMsg Rob, MoveRLW , 1, NoParamSingle
DefMsg Rob, MoveRH , 1, NoParamSingle
DefMsg Rob, MoveRPos1 , 3, NoParamSingle
DefMsg Rob, MoveRPos2 , 3, NoParamSingle
DefMsg Rob, MoveCBL , 0, NoParamSingle
DefMsg Rob, MoveCBR , 0, NoParamSingle
DefMsg Rob, StopCB , 0, NoParamSingle
DefMsg Rob, MoveCSU , 0, NoParamSingle
DefMsg Rob, MoveCSD , 0, NoParamSingle
DefMsg Rob, StopCS , 0, NoParamSingle
DefMsg Rob, MoveCEU , 0, NoParamSingle
DefMsg Rob, MoveCED , 0, NoParamSingle
DefMsg Rob, StopCE , 0, NoParamSingle
DefMsg Rob, MoveCHU , 0, NoParamSingle
DefMsg Rob, MoveCHD , 0, NoParamSingle
DefMsg Rob, StopCHP , 0, NoParamSingle
DefMsg Rob, MoveCHL , 0, NoParamSingle
DefMsg Rob, MoveCHR , 0, NoParamSingle
DefMsg Rob, StopCHT , 0, NoParamSingle
DefMsg Rob, MoveCHO , 0, NoParamSingle
DefMsg Rob, MoveCHC , 0, NoParamSingle
DefMsg Rob, StopCH , 0, NoParamSingle
DefMsg Rob, RobVelocity , 1, ParamSingle1
DefMsg Rob, RobGoHome , 0, NoParamSingle
DefMsg Rob, SetHome , 0, NoParamSingle
DefMsg Rob, GibPos1 , 2, ParamSingle1+ParamSingle2
DefMsg Rob, GibPos2 , 2, ParamSingle1+ParamSingle2
DefMsg Rob, RobGibReady , 2, ParamSingle1+ParamSingle2
DefMsg Rob, RobInit , 0, NoParamSingle
DefMsg Rob, RobDeInit , 0, NoParamSingle
DefMsg Frs, Init , 0, NoParamSingle
DefMsg Frs, DeInit , 0, NoParamSingle
DefMsg Frs, MoveCX , 1, ParamSingle1
DefMsg Frs, MoveCY , 1, ParamSingle1
DefMsg Frs, MoveCZ , 1, ParamSingle1
DefMsg Frs, MoveCV , 1, ParamSingle1
DefMsg Frs, StopCX , 1, ParamSingle1
DefMsg Frs, StopCY , 1, ParamSingle1
DefMsg Frs, StopCZ , 1, ParamSingle1
DefMsg Frs, StopCV , 1, ParamSingle1
DefMsg Frs, FrsVelocity , 1, ParamSingle1
DefMsg Frs, FrsVelocityDraw , 1, ParamSingle1
DefMsg Frs, FrsGoHome , 0, NoParamSingle
DefMsg Frs, RefFahrt , 0, NoParamSingle
DefMsg Frs, SetDrillRef , 0, NoParamSingle
DefMsg Frs, SetPieceRef , 3, NoParamSingle
DefMsg Frs, MoveX , 1, NoParamSingle
DefMsg Frs, MoveY , 1, NoParamSingle
DefMsg Frs, MoveZ , 1, NoParamSingle
DefMsg Frs, MoveAPos , 3, NoParamSingle
DefMsg Frs, MoveRX , 1, NoParamSingle
DefMsg Frs, MoveRY , 1, NoParamSingle
DefMsg Frs, MoveRZ , 1, NoParamSingle
DefMsg Frs, MoveRV , 1, NoParamSingle
DefMsg Frs, MoveRPos , 3, NoParamSingle
DefMsg Frs, MoveVOpen , 0, NoParamSingle
DefMsg Frs, MoveVClose , 0, NoParamSingle
DefMsg Frs, MoveV , 1, NoParamSingle
DefMsg Frs, GoPieceRefPos , 0, NoParamSingle
DefMsg Frs, MovePR , 3, NoParamSingle
DefMsg Frs, Drill , 1, ParamSingle1
DefMsg Frs, SetMasterAdress , 3, ParamSingle1+ParamSingle2+ParamSingle3
DefMsg Frs, GibFrsPos1 , 2, ParamSingle1+ParamSingle2
DefMsg Frs, GibFrsPos2 , 2, ParamSingle1+ParamSingle2
DefMsg Frs, GibPosP , 2, ParamSingle1+ParamSingle2
DefMsg Frs, GibStatus , 2, ParamSingle1+ParamSingle2
DefMsg Frs, GibReady , 3, ParamSingle1+ParamSingle2+ParamSingle3
DefMsg MemRob,LoadRob,0, NoParamSingle
DefMsg MemRob,SaveRob,0, NoParamSingle
DefMsg MemRob,StartRobRun,0, NoParamSingle
DefMsg MemRob,StoreRobPos,0, NoParamSingle
DefMsg MemRob,StoreRobSync,0, NoParamSingle
DefMsg MemRob,StoreRobReady,0, NoParamSingle
DefMsg MemRob,InitRobTeach,0, NoParamSingle
DefMsg MemRob,DeinitRobTeach,0, NoParamSingle
DefMsg MemRob,ClearRobTeach,0, NoParamSingle
DefMsg MemRob,ResetRobTeach,0, NoParamSingle
DefMsg MemRob,GetRobSync,1,ParamSingle1
DefMsg MemRob,GetRobReady,0, NoParamSingle
DefMsg MemRob,RobPos1,3, NoParamSingle
DefMsg MemRob,RobPos2,3, NoParamSingle
DefMsg MemRob,DebugRob,0, NoParamSingle
DefMsg MemFrs,LoadFrs,0, NoParamSingle
DefMsg MemFrs,SaveFrs,0, NoParamSingle
DefMsg MemFrs,StartFrsRun,0, NoParamSingle
DefMsg MemFrs,StoreFrsPos,0, NoParamSingle
DefMsg MemFrs,StoreFrsSync,0, NoParamSingle
DefMsg MemFrs,StoreFrsReady,0, NoParamSingle
DefMsg MemFrs,StoreFrsPieceRef,0, NoParamSingle
DefMsg MemFrs,StoreFrsTiefe,0, NoParamSingle
DefMsg MemFrs,StoreFrsDrill,0, NoParamSingle
DefMsg MemFrs,InitFrsTeach,0, NoParamSingle
DefMsg MemFrs,DeinitFrsTeach,0, NoParamSingle
DefMsg MemFrs,ClearFrsTeach,0, NoParamSingle
DefMsg MemFrs,ResetFrsTeach,0, NoParamSingle
DefMsg MemFrs,GetFrsSync,1,ParamSingle1
DefMsg MemFrs,GetFrsReady,0, NoParamSingle
DefMsg MemFrs,FrsPos1,3, NoParamSingle
DefMsg MemFrs,FrsPos2,3, NoParamSingle
DefMsg MemFrs,FrsPieceRef,3, NoParamSingle
DefMsg MemFrs,FrsTiefe,3, NoParamSingle
DefMsg MemFrs,GetFrsError,1, ParamSingle1
DefMsg MemFrs,GetFrsWarning,1, ParamSingle1
DefMsg MemFrs,DebugFrs,0, NoParamSingle
DefMsg TeachFrs,Bug,0,NoParamSingle
;
; ****************************************************************************
|