kukarobot.uew

/L20"KRL (KUKA Robot Language)" Nocase Line Comment = ; String Chars = "' File Extensions = SRC DAT KRL SUB KFD
/Delimiters = -~*()|{}[]<>="' ,	.?:
/Indent Strings = "then" "loop" "repeat" "for" "switch" "while" "else"
/Unindent Strings = "endfor" "endif" "endwhile" "endloop" "end" "endfct" "endswitch" "else" "until"
/Ignore Strings SOL = ";"
/Function String 1 = "% ++^t++def +^(*^))++"
/Function String 2 = "% ++^t++deffct +^(*^))++"
/Function String 3 = "% ++^t++defdat +^(*^))++"
/Function String 4 = ";;"
/Marker Characters = "& " 
/C1"Program Flow"
continue case
decl def do defdat default deffct
endfor enum endif endwhile else endloop end endfct enddat endswitch ext exit
for fold
halt
if
loop
prio
repeat return resume
switch step
then to
until
while when

/C2"Setup commands"
$pro_act $CONF_MESS
A
base base_no B
cp_dat C
ex_base ERR_TO_PLC
fdat frames
group
interrupt ipo_frame
ldat
out_sync out_async odat
sec
tool_no tool
X
Y
Z

/C3"Motion commands"
$POS_ACT
#fast #normal #slow #veryslow #medium #extraslow #path
brake
circ c_ptp c_vel c_dis c_ori
lin lin_rel
ptp ptp_rel

/C4"Math and Functions"
-
*
[
]
(
)
{
}
,
:
> >=
< <=
= ==
!
and abs acos atan2
b_and b_exor b_not b_or
cos
exor
false
not
or off on
sin sqrt
tan true

/C5"I/O Commands"
#open_gr #close_gr
distance delay
mess
pulse path
signal
trigger
wait

/C6"Type definitions"
& 
axis
bool
char
e6pos e6axis
frame
int
pos
real
struc

/C7"System Variables"
$ipo_mode $out $in $timer_stop $cycflag $timer $flag $mode_op $MSG_T


/C8"OpusTech functions"
appro appros
depart departs
errorout
linspeed
newtool newbase
setspeed