; -- Syntax for Helpfile
;KEY INTRO
;KEY xxxx
;"" free line
;KEY_WORD_COLOR
;STD_TXT_COLOR
;HOT_TXT_COLOR
;TXT_MIDDLE
;TXT_RIGHT
;TXT_TAB
;TXT_LEFT
;HALT user is prompted to press any key
;-----------------------------------------------------------
;             INTRO
;-----------------------------------------------------------
KEY INTRO
KEY_WORD_COLOR
Let's go, start the simulation:
""
STD_TXT_COLOR
Load a Robot Cell first
""
HOT_TXT_COLOR
TXT_LEFT
TXT_TAB
Select   MENUE - LOAD - CELL
""
TXT_LEFT
STD_TXT_COLOR
Select a '*.cel' File                (all files in ASCII)
""
Run the Robot Program
""
HOT_TXT_COLOR
TXT_LEFT
TXT_TAB
Select   MENUE - RUN - RUN_PROGRAM
""
HALT
;---------------------------------------------------
TXT_LEFT
KEY_WORD_COLOR
High Functionality is available for you
STD_TXT_COLOR
""
 - You can create your robot motion program
 - You can move your robot in Joint and Cartesian space
 - You can design your own robot kinematic, Type RRR:RRR, TTT:RRR
   and check the reachability
 - You can design a Tool with TCP Data
""
 - You can save everything in ASCII files
""
KEY_WORD_COLOR
3D CAD System
STD_TXT_COLOR
""
 - allows you to create blocks, cylinder, spheres, etc..
	for your Cell, Robot or Tool
""
HOT_TXT_COLOR
TXT_LEFT
TXT_TAB
select   MENUE - 3D_CAD
""
""
STD_TXT_COLOR
TXT_LEFT
You can do ... a lot more
HALT
;---------------------------------------------------
""
STD_TXT_COLOR
TXT_MIDDLE
It's an easy way to learn about robotics
""
""
Take a look to the 
""
HOT_TXT_COLOR
Quick Programmers Reference Manual
""
STD_TXT_COLOR
file 'prg_ref.hlp' with a list of available commands
""
""
STD_TXT_COLOR
Press
""
""
HOT_TXT_COLOR
Help  Key  'F1'
""
""
STD_TXT_COLOR
for case sensitive help at any time
""
STD_TXT_COLOR
TXT_TAB
Have fun with it !

;-----------------------------------------------------------
;             MODIFY_ACTIV_JNT
;-----------------------------------------------------------
KEY MODIFY_ACTIV_JNT
KEY_WORD_COLOR
 Modify Activ Joint
STD_TXT_COLOR
""
- The window title gives you information about the joint
  number, the joint type [T or R] (R is rotational and T
  is  translational) and the joint direction [X,Y or Z].
""
  This menue allows you to select the type and the
  direction for the activ joint.
""
  If you change the joint type, the joint value is set to
  zero.

;-----------------------------------------------------------
;             MODIFY_ACTIV_JNT_DH
;-----------------------------------------------------------
KEY MODIFY_ACTIV_JNT_DH
KEY_WORD_COLOR
 Modify Activ DH Joint
STD_TXT_COLOR
""
- The window title gives you information about the joint
  number and the joint type [T or R] (R is rotational and
  T is  translational).
  The joint direction is always in Z-direction.
""
  This menue allows you to change the data.
""
  If you change the joint type, the joint value is set to
  zero.

;-----------------------------------------------------------
;             MODIFY_CHAIN_TYPE
;-----------------------------------------------------------
KEY MODIFY_CHAIN_TYPE
KEY_WORD_COLOR
 Modify Chain Type for a passiv joint
STD_TXT_COLOR
""
- A passiv joint could be inside 'C' or outside '_' the
  kinematic chain of the robot.
""
  Each passiv joint is attached to an activ joint.
""
HOT_TXT_COLOR
TXT_TAB
  Example: pass. Jnt 1 RZC0
TXT_LEFT
STD_TXT_COLOR
""
  The passiv Joint number 1 rotates about its Z-axis and
  is attached to activ joint number 0 (the robot base)
  and it is inside the kinematic chain 'C'.


;-----------------------------------------------------------
;             MODIFY_PASSIV_TYPE_DIRECTION
;-----------------------------------------------------------
KEY MODIFY_PASSIV_TYPE_DIRECTION
KEY_WORD_COLOR
 Modify Type and Direction for a passiv joint
STD_TXT_COLOR
""
- The window title gives you information about the passiv
  joint number, the joint type [T or R] (R is rotational
  and T is  translational) and the joint direction
  [X,Y or Z].
""
  This menue allows you to change the type and direction
  for the passiv joint

;-----------------------------------------------------------
;             MODIFY_PASSIV_TYPE_DIRECTION_DH
;-----------------------------------------------------------
KEY MODIFY_PASSIV_TYPE_DIRECTION_DH
KEY_WORD_COLOR
 Modify Type and Direction for a passiv DH joint
STD_TXT_COLOR
""
- The window title gives you information about the passiv
  joint number, the joint type [T or R] (R is rotational
  and T is  translational) and the joint direction.
  The direction is always in Z.
""
  This menue allows you to select the type
  for the passiv DH joint

;-----------------------------------------------------------
;             MODIFY_PASSIV_JNT
;-----------------------------------------------------------
KEY MODIFY_PASSIV_JNT
KEY_WORD_COLOR
 Modify passiv Joint
STD_TXT_COLOR
""
- A passiv Joint is specified by the following parameter.
""
KEY_WORD_COLOR
Type & Direction:
STD_TXT_COLOR
- Type: rotational 'R' or translational 'T'
  Direction: X,Y or Z
""
KEY_WORD_COLOR
Chain specification:
STD_TXT_COLOR
- A passiv joint could be inside or outside the kinematic
  chain.
""
KEY_WORD_COLOR
Attach to activ joint:
STD_TXT_COLOR
- Each passiv joint is attached to an activ joint
  If more passiv joints are attached to one activ joint
  and they are inside the kinematic chain, then the
  2nd. passiv joint for example is attached to the first
  passiv joint, the 3rd passiv Joint is attached to the
  2nd....
""
KEY_WORD_COLOR
Math. Jnt dependency:
STD_TXT_COLOR
- a passiv joint can have a mathematical dependency to
  an activ joint.

""
KEY_WORD_COLOR
Geometric Data:
STD_TXT_COLOR
- Transformation (X,Y,Z, RotX, RotY and RotZ) to the next
  joint (activ or passiv) in the kinematic chain.
  DH: Description in Theta D A Alfa.
""
KEY_WORD_COLOR
Quit
STD_TXT_COLOR
- quit this menue


;-----------------------------------------------------------
;             USER_KIN
;-----------------------------------------------------------
KEY USER_KIN
KEY_WORD_COLOR
Inverse Kinematic for the robot
""
STD_TXT_COLOR
You are prompted to assign the invers kinematic for the
robot and the number of configurations. The user
kinematics in the Dynamic Link Library
HOT_TXT_COLOR
TXT_MIDDLE
er_kin.dll
TXT_LEFT
STD_TXT_COLOR
allows you to write your own inverse function in C.
For more informations, please read the manual.
""
KEY_WORD_COLOR
No  inv. kinematics:
STD_TXT_COLOR
- no invers kinematic for the robot
""
KEY_WORD_COLOR
DLL inv. kin. #1:
STD_TXT_COLOR
- this robot uses the invers kinematic function #1
  in the er_kin.dll
""
KEY_WORD_COLOR
DLL inv. kin. #2:
STD_TXT_COLOR
- this robot uses the invers kinematic function #2
  in the er_kin.dll
""
KEY_WORD_COLOR
Quit:
STD_TXT_COLOR
- quit this menue

;-----------------------------------------------------------
;             UNIV_ACTIV_JNTS
;-----------------------------------------------------------
KEY UNIV_ACTIV_JNTS
KEY_WORD_COLOR
Modify Activ Joints
STD_TXT_COLOR
""
- Change the number of DOF of activ joints
- Specify each activ joint, by
""
TXT_TAB
Type (Rot. or Trans.)
Direction (X,Y or Z), if DH only Z is allowed
Transformation to the next Joint...
 Umiversal: XYZ ABC
 DH: Theta D A Alfa
""
TXT_LEFT
KEY_WORD_COLOR
Quit:
STD_TXT_COLOR
- quit this menue

;-----------------------------------------------------------
;             UNIV_PASSIV_JNTS
;-----------------------------------------------------------
KEY UNIV_PASSIV_JNTS
KEY_WORD_COLOR
Modify Passv Joints
STD_TXT_COLOR
""
- Change the number of passiv joints
- Specify each passiv joint, by
""
TXT_TAB
Type (Rot. or Trans.)
Direction (X,Y or Z), if DH only Z is allowed
""
Chain, a passiv joint could be in- or outside the
 kinematic chain.
""
Attachment, a passiv joint has to be attached to
 an activ joint.
Math. dependency, a passiv joint could be in math.
 dep. to an activ joint.
Transformation to the next Joint...
 Umiversal: XYZ ABC
 DH: Theta D A Alfa
""
TXT_LEFT
KEY_WORD_COLOR
Quit:
STD_TXT_COLOR
- quit this menue

;-----------------------------------------------------------
;             UNIV_DH_ROB_INFO
;-----------------------------------------------------------
KEY UNIV_DH_ROB_INFO
KEY_WORD_COLOR
Information about the kinematic
STD_TXT_COLOR
""
All data for a Universal or DH Kinematic listed
(number of DOF, number of passiv joint, DH-data, etc.)

;-----------------------------------------------------------
;             UNIV_DH_ROB
;-----------------------------------------------------------
KEY UNIV_DH_ROB
HOT_TXT_COLOR
TXT_MIDDLE
Design your own robot kinematic
TXT_LEFT
""
KEY_WORD_COLOR
Active Joints
STD_TXT_COLOR
- modify all data for the activ joints
  in universal coordinates X,Y,Z, RotX, RotY, RotZ
  in DH notation Theta, D, A, Alfa
""
KEY_WORD_COLOR
Passiv Joints
STD_TXT_COLOR
- modify all data for the passiv joints
  in universal coordinates X,Y,Z, RotX, RotY, RotZ
  in DH notation Theta, D, A, Alfa
""
KEY_WORD_COLOR
Robot Base to 1th Joint
STD_TXT_COLOR
- Transformation X,Y,Z [m] and A,B,C [deg] from the
  robots base frame to the 1th activ or passiv joint
""
KEY_WORD_COLOR
Invers Kinematic No.
STD_TXT_COLOR
- Assigns an invers kinematic function to the robot.
  The Dynamik Link Library 'er_kin.dll' is used.
""
KEY_WORD_COLOR
Kinematic Information
STD_TXT_COLOR
- Gives all informations about the current kinematic
  (number of DOF, number of passiv joint, DH-data, etc.)
""
KEY_WORD_COLOR
Quit
STD_TXT_COLOR
- quit this menue
""


;-----------------------------------------------------------
;             ROBFILE
;-----------------------------------------------------------
KEY ROBFILE
KEY_WORD_COLOR
GO:
""
STD_TXT_COLOR
- starts or continue the program or recording simulation
""
KEY_WORD_COLOR
STOP:
""
STD_TXT_COLOR
- stop the program or recording simulation
""
KEY_WORD_COLOR
ADJ.:
""
STD_TXT_COLOR
- modifies the view, zoom in/out,
  rotate and translate the world, etc
""
HALT
;---------------------------------------------------
KEY_WORD_COLOR
QUIT:
""
STD_TXT_COLOR
- quit the program or recording simulation
""
KEY_WORD_COLOR
< - >:
""
STD_TXT_COLOR
- decrease simulation speed
""
KEY_WORD_COLOR
< + >:
""
STD_TXT_COLOR
- increase simulation speed
""
KEY_WORD_COLOR
TEACH:
""
STD_TXT_COLOR
- starts the teach panel to move the robot in ...
  joint or
  cartesian space (reachability is checked)
""
HALT
;---------------------------------------------------
KEY_WORD_COLOR
MENUE:
""
STD_TXT_COLOR
- opens the main menue for further actions
""
KEY_WORD_COLOR
STEP:
""
STD_TXT_COLOR
- runs the simulation step by step
""
KEY_WORD_COLOR
HELP:
""
STD_TXT_COLOR
- this help
;-----------------------------------------------------------
;             TEACH_AX
;-----------------------------------------------------------
KEY TEACH_AX
KEY_WORD_COLOR
-1 +1 -2 +2 -3 +3 -4 +4 -5 +5 -6 +6:
""
STD_TXT_COLOR
- moves robot axis no 1..6 in +/- direction
""
KEY_WORD_COLOR
AX:
""
STD_TXT_COLOR
- the robot will move in joint space
""
KEY_WORD_COLOR
KART:
""
STD_TXT_COLOR
- the robot will move in cartesian space related to
  the Robots Base or in TCP coords.
  Click KART again to change the coorsys
HALT
;---------------------------------------------------
KEY_WORD_COLOR
HYBR:
""
STD_TXT_COLOR
- (expl. hybrid position force control mode)
  not implemented
""
KEY_WORD_COLOR
ADJ.:
""
STD_TXT_COLOR
- modifies the view, zoom in/out,
  rotate and translate the world, etc
""
KEY_WORD_COLOR
MENUE:
""
STD_TXT_COLOR
- opens the main menue for further actions
""
KEY_WORD_COLOR
EXIT:
""
STD_TXT_COLOR
- a double click will exit  E A S Y - R O B
  take care to save your data
HALT
;---------------------------------------------------
KEY_WORD_COLOR
<-> or press - key:
""
STD_TXT_COLOR
- decrease stepsize
""
KEY_WORD_COLOR
<+>  or press + key:
""
STD_TXT_COLOR
- increase stepsize
""
KEY_WORD_COLOR
<_> or press _ key:
""
STD_TXT_COLOR
- decrease stepsize by 2
""
KEY_WORD_COLOR
<*>  or press * key:
""
STD_TXT_COLOR
- increase stepsize by 2
;-----------------------------------------------------------
;             TEACH_CART
;-----------------------------------------------------------
KEY TEACH_CART
KEY_WORD_COLOR
-X +X -Y +Y -Z +Z -A +A -B +B -C +C
""
STD_TXT_COLOR
- moves the robot's TCP related to the current coords
  (Robot-Base or -TCP) in cartesian space.
- the Orientation ABC is RotX(A)*RotY(B)*RotZ(C)
  display robot values:
""
TXT_TAB
HOT_TXT_COLOR
MENUE - Miscellaneous - Switch ON OFF -
Show joint & position data
TXT_LEFT
""
KEY_WORD_COLOR
AX:
""
STD_TXT_COLOR
- the robot will move in joint space
;""
HALT
;---------------------------------------------------
KEY_WORD_COLOR
KART:
""
STD_TXT_COLOR
- the robot will move in cartesian space related to
  the Robots Base or in TCP coords.
  Click KART again to change the coorsys
""
KEY_WORD_COLOR
HYBR:
""
STD_TXT_COLOR
- (expl. hybrid position force control mode)
  not implemented
""
KEY_WORD_COLOR
ADJ.:
""
STD_TXT_COLOR
- modifies the view, zoom in/out,
  rotate and translate the world, etc
""
KEY_WORD_COLOR
MENUE:
""
STD_TXT_COLOR
- opens the main menue for further actions
""
KEY_WORD_COLOR
EXIT:
""
STD_TXT_COLOR
- a double click will exit  E A S Y - R O B
  take care to save your data
;HALT
;---------------------------------------------------
KEY_WORD_COLOR
<-> or press - key:
""
STD_TXT_COLOR
- decrease stepsize
""
KEY_WORD_COLOR
<+>  or press + key:
""
STD_TXT_COLOR
- increase stepsize
""
KEY_WORD_COLOR
<_> or press _ key:
""
STD_TXT_COLOR
- decrease stepsize by 2
""
KEY_WORD_COLOR
<*>  or press * key:
""
STD_TXT_COLOR
- increase stepsize by 2
;-----------------------------------------------------------
;             MENUE
;-----------------------------------------------------------
KEY MENUE
KEY_WORD_COLOR
Tool  Data:
""
STD_TXT_COLOR
- enter TCP values X Y Z   A B C in [m/deg]
""
KEY_WORD_COLOR
Robot Motion & Kinematics:
""
STD_TXT_COLOR
- enter target joint or cartesian position
  the robot will interpolate to this position
- change the configuration of the robot
- change the kinamatic length of the robot
- change the robots base position
  etc
""
KEY_WORD_COLOR
Robot Program:
""
STD_TXT_COLOR
- Create a robot program
- Saves current configuration to current created
  program
- Saves current position of the robot as
  PTP or LIN to current created program
- Load robot program
  etc
""
KEY_WORD_COLOR
Save:
""
STD_TXT_COLOR
- Save the Cell (*.cel)
  Bodys (*.bod)
  Robot (*.rob)
  Tool (*.tol)
- Save the current VIEW in a view file *.vie
- Save a Joint Recording
- All Data Files are in ASCII
""
KEY_WORD_COLOR
Delete / unLoad:
""
STD_TXT_COLOR
- Delete current Cell, Robot and/or Tool etc
""
KEY_WORD_COLOR
Load:
""
STD_TXT_COLOR
- Load new Cell, Robot, Tool, Program and
  Joint Recording etc
""
KEY_WORD_COLOR
Run:
""
STD_TXT_COLOR
- run a loaded robot program
- run a loaded joint recording
""
KEY_WORD_COLOR
3D-CAD:
""
STD_TXT_COLOR
- menue for 3D_CAD System to create bodys for
  the Cell, Robot or Tool
""
KEY_WORD_COLOR
Miscellaneous:
""
STD_TXT_COLOR
- many possibilities are availbale like
  TCP Trace ON/OFF
  show all Robot Coorsys
  show Joint and Position of Robot
  3D Animation in Wireframe, Orthografic view, ...
  dos shell
  edit current configuration file [config.dat is default]
  display last "status" and "info" messages
  etc.
""
KEY_WORD_COLOR
Exit EASY-ROB:
""
STD_TXT_COLOR
- will exit  E A S Y - R O B
  or double click the EXIT buttom at the bottom line
""
KEY_WORD_COLOR
quit:
""
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             Robot_Motion
;-----------------------------------------------------------
KEY ROBOT_MOTION
HOT_TXT_COLOR
Help Robot Motion
""
KEY_WORD_COLOR
Robot Joint Position
STD_TXT_COLOR
- enter target joint values [deg] for current robot,
  the robot will interpolate in joint mode to the new
  location.
""

KEY_WORD_COLOR
Robot Cartesian Position
STD_TXT_COLOR
- enter target TCP location XYZ [m] ABC [deg] and the
  configuration for current robot.
  The robot will interpolate in straight mode to the new
  location.
  If the location is not reachable a message appears.
""
HOT_TXT_COLOR
TXT_MIDDLE
Note: ABC is Rot(A)*Rot(B)*Rot(C)
TXT_LEFT
""

KEY_WORD_COLOR
Robot Cartesian Position
STD_TXT_COLOR
- enter a delta location XYZ [m] ABC [deg] related to the
  current TCP location for current robot.
  The robot will interpolate in straight mode to the new
  location.
  If the location is not reachable a message appears.
""

KEY_WORD_COLOR
Robot Configuration
STD_TXT_COLOR
- new robot configuration:
  increment or decrement current robot configuration or
  select a valid one from the calculated list
""

HOT_TXT_COLOR
TXT_MIDDLE
Design your own robot kinematic
TXT_LEFT
""

KEY_WORD_COLOR
Robot Kinematic data
STD_TXT_COLOR
- modify the kinematic lengths for the current robot. The
  inverse kinematic will use these new data.
  If the robot kinematic is decribed in Universal or
  DH notation, you can change the number of DOF's and add
  also passiv joints to the kinematic chain.
""

KEY_WORD_COLOR
Robot Base Position in Word
STD_TXT_COLOR
- modify the robot base location XYZ ABC related to the
  world frame
""

KEY_WORD_COLOR
Robot Attributes
STD_TXT_COLOR
- modify the robot attributes like travel ranges, joint
  speeds, -accels, -offsets and -signs.
""

HOT_TXT_COLOR
TXT_MIDDLE
Don't forget to save your robot
""
-> MENUE - SAVE - Robot
TXT_LEFT
""

KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             RUN_MENUE
;-----------------------------------------------------------
KEY RUN_MENUE
HOT_TXT_COLOR
Help Run Menue
""

KEY_WORD_COLOR
Run Program
STD_TXT_COLOR
- executes currently loaded program (*.prg)
HOT_TXT_COLOR
  Display program window with
""
TXT_TAB
  - MENUE - Miscellaneous - Switch_on_off -
    Show program window
  - Easy Rob Command:
    ERC PRG_WIN ON/OFF
TXT_LEFT
""

KEY_WORD_COLOR
Run Joint Recording
STD_TXT_COLOR
- executes currently loaded  Joint Recording File (*.rec)
""

KEY_WORD_COLOR
Load Program
STD_TXT_COLOR
- load a robot program from a list
  This is the currently loaded one
""

KEY_WORD_COLOR
Load Joint Recording
STD_TXT_COLOR
- load a Joint Recording from a list
  This is the currently loaded one
""

KEY_WORD_COLOR
Run Program Settings
STD_TXT_COLOR
- sets program execution parameters
  debug: prompts the user to hit any key after each
  executed program line to continue program execution
""

KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             SAVE_MENUE
;-----------------------------------------------------------
KEY SAVE_MENUE
HOT_TXT_COLOR
Help Save Menue
""
KEY_WORD_COLOR
Tool
STD_TXT_COLOR
- save the Robots Tool data in a *.tol file
  includes bodys and tool transformation
""

KEY_WORD_COLOR
Robot
STD_TXT_COLOR
- save the Robots data in a *.rob file
  includes Tool data
""

KEY_WORD_COLOR
Bodys
STD_TXT_COLOR
- save the Bodys data in a *.bod file
""

KEY_WORD_COLOR
View
STD_TXT_COLOR
- save the current View in a *.vie file
""

KEY_WORD_COLOR
Cell
STD_TXT_COLOR
- save the Cell data in a *.cel file
HOT_TXT_COLOR
  includes Tool, Robot, Bodys, View data and
  current loaded Program and Joint Recording
""
KEY_WORD_COLOR
Joint Recording
""
HOT_TXT_COLOR
TXT_MIDDLE
C r e a t e   a   J o i n t   R e c o r d i n g
TXT_LEFT
""
STD_TXT_COLOR
- The user has to enter a filename for the Joint
  Recording File (fln.rec).
  With each simulation step the robot joint values
  are saved in the specified file.
""
  Syntax:
""
q     joint1  joint2  joint3  joint4  joint5  joint6
""
- To close this file go to this menue point again.
""
- If you like to execute the created recording,
  load this recording and run it.
""
KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             PROGRAM_MENUE
;-----------------------------------------------------------
KEY PROGRAM_MENUE
HOT_TXT_COLOR
Help Program Menue
""

KEY_WORD_COLOR
Quick Programmers Reference Manual
STD_TXT_COLOR
TXT_TAB
""
File
""
HOT_TXT_COLOR
TXT_MIDDLE
P R G _ R E F . H L P
""
STD_TXT_COLOR
TXT_LEFT
TXT_TAB
containes all possible Commmands
with explainations.
See also example programs
""
TXT_LEFT

KEY_WORD_COLOR
create New Program
STD_TXT_COLOR
- opens a new file to create a program.
  The user has to enter a file name (use <- Arrow
  to delete the filename and keep current path).
  The extension is set to 'prg' automatically.
""

KEY_WORD_COLOR
Open   Program to append
STD_TXT_COLOR
- the user has to select a program file from a list
  to append new program commands.

;---------------------------------------------------------
HALT
HOT_TXT_COLOR
TXT_MIDDLE
- -   I  M  P  O  R  T  A  N  T   - -
""
TXT_LEFT
TXT_TAB
Each program ends with the command ENDPROGRAMFILE or
END. The program is executed until this command. If
you append new commands, don't forget to delete the
command ENDPROGRAMFILE or END.

Use this mode to save robots position data and use
an editor to make a nice program. see below
  "Edit   current created Program"
TXT_LEFT
""
KEY_WORD_COLOR
Close  current Program
STD_TXT_COLOR
- close currently created program and append an
  ENDPROGRAMFILE at the end.
""

KEY_WORD_COLOR
Edit   current created Program
STD_TXT_COLOR
- edits the current created program
  The editor is specified in the configuration file
  [default config.dat]
""

KEY_WORD_COLOR
Edit   loaded Program
STD_TXT_COLOR
- edits the current loaded program
""

KEY_WORD_COLOR
Load Program
STD_TXT_COLOR
- load a robot program from a list
""

KEY_WORD_COLOR
Run Program
STD_TXT_COLOR
- executes currently loaded program (*.prg)
HOT_TXT_COLOR
  Display program window with
""
TXT_TAB
  - MENUE - Miscellaneous - Switch_on_off -
    Show program window
  - Easy Rob Command:
    ERC PRG_WIN ON/OFF
TXT_LEFT
""

KEY_WORD_COLOR
save Config
STD_TXT_COLOR
- save the current robot configuration to the
  current created program
  Syntax: Config  number
""
HOT_TXT_COLOR
TXT_TAB
a PTP move command should follow, because a robot
cannot change its configuration during a straight
move
TXT_LEFT
""
KEY_WORD_COLOR
save PTP
STD_TXT_COLOR
- save the current robot location XYZ [m], ABC [deg]
  as PTP (Point to Point) move to the current
  created program
  Syntax: PTP  X  Y  Z  A  B  C
""

KEY_WORD_COLOR
save LIN
STD_TXT_COLOR
- save the current robot location XYZ [m], ABC [deg]
  as LIN (Linear or Straight) move to the current
  created program
  Syntax: LIN  X  Y  Z  A  B  C
""

KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             LOAD_MENUE
;-----------------------------------------------------------
KEY LOAD_MENUE
HOT_TXT_COLOR
Help Load Menue
""
KEY_WORD_COLOR
Tool
STD_TXT_COLOR
- load a Robots Tool from a list
""

KEY_WORD_COLOR
Robot
STD_TXT_COLOR
- load a Robot from a list
""

KEY_WORD_COLOR
Bodys
STD_TXT_COLOR
- load Bodys from a list
""

KEY_WORD_COLOR
View
STD_TXT_COLOR
- load a View from a list
""

KEY_WORD_COLOR
Cell
STD_TXT_COLOR
- load a Cell from a list
""
KEY_WORD_COLOR
Joint Recording
""
STD_TXT_COLOR
- load a  Joint Recording from a list
""

KEY_WORD_COLOR
Program
""
STD_TXT_COLOR
- load a  Program  from a list

""
KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             UNLOAD_MENUE
;-----------------------------------------------------------
KEY UNLOAD_MENUE
HOT_TXT_COLOR
Help UnLoad Menue
""
KEY_WORD_COLOR
Tool
STD_TXT_COLOR
- unload Robots Tool
""

KEY_WORD_COLOR
Robot
STD_TXT_COLOR
- unload Robot
""

KEY_WORD_COLOR
Bodys
STD_TXT_COLOR
- load all Bodys
""

KEY_WORD_COLOR
Cell
STD_TXT_COLOR
- load Cell
""
KEY_WORD_COLOR
Joint Recording
""
STD_TXT_COLOR
- unload Joint Recording
""

KEY_WORD_COLOR
Program
""
STD_TXT_COLOR
- unload Program

""
KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             EDIT_MENUE
;-----------------------------------------------------------
KEY EDIT_MENUE
KEY_WORD_COLOR
config file
STD_TXT_COLOR
- edit config file
""
KEY_WORD_COLOR
rotbot, bodys, cell, tool, joint recording, program file
STD_TXT_COLOR
- edit current * file
""
KEY_WORD_COLOR
current created Program
STD_TXT_COLOR
- edit the current created Program
""
KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             SWITCH_ON_OFF
;-----------------------------------------------------------
KEY SWITCH_ON_OFF
KEY_WORD_COLOR
switch ON OFF
STD_TXT_COLOR
  "Show joint & position data"
  "Show view data"
  "Show Program Window"
  "Wire frame"
  "Light Source"
  "Orthografic view"
  "Robot coorsys"
  "Robot"
  "TCP  coorsys"
  "Tool"
  "Track"
  "Bodys"
  "Floor"
  "Floor in wire frame"
""
KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             MISCELLANEOUS_MENUE
;-----------------------------------------------------------
KEY MISCELLANEOUS_MENUE
HOT_TXT_COLOR
Help Miscellaneous Menue
""
KEY_WORD_COLOR
Switch ON OFF
STD_TXT_COLOR
- set many things ON or OFF
""
KEY_WORD_COLOR
Simulation data
STD_TXT_COLOR
- Set Interpolation stepsize, speeds, accels, etc.
""
KEY_WORD_COLOR
Grafic view data
STD_TXT_COLOR
- modify screensize, yonder and hither plane
- modify backgroundcolors, values are
""
TXT_TAB
BLACK      0 BLUE       1 GREEN      2 CYAN       3
RED        4 MAGENTA    5 BROWN     20 L_GRAY     7
D_GRAY    56 L_BLUE    57 L_GREEN   58 L_CYAN    59
L_RED     60 L_MAGENTA 61 YELLOW    62 WHITE     63
""
If you choose one if the above values as
backgroundcolors, the original one is reversed
""
TXT_LEFT

""
KEY_WORD_COLOR
edit sys-files
STD_TXT_COLOR
- edit tool, robot, cell, program , ... files
""
KEY_WORD_COLOR
dos shell
STD_TXT_COLOR
- dos shell
""
KEY_WORD_COLOR
Display last Status messages
STD_TXT_COLOR
- displays last Status messages
""
KEY_WORD_COLOR
Display last Info messages
STD_TXT_COLOR
- displays last Info messages
""
KEY_WORD_COLOR
Basic Help
STD_TXT_COLOR
- Basic Help Menue
""
KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue
;-----------------------------------------------------------
;             ROBOT_CONFIGURATION
;-----------------------------------------------------------
KEY ROBOT_CONFIGURATION
KEY_WORD_COLOR
Robot Configuration
""
STD_TXT_COLOR
A robot with 6 DOF (Degrees of Freedom) has more than one
possibilities to reach a position (xyz and orientation).
These possibilities are called configurations.
""
The maximum number of configurations is 8 in this case.
This function allows you to check all possible configurations.
The robot will interpolate to the new joint location if the
specified configuration is OK or SINGULAR.
""
If the specified configuration is UNREACH, a message is given.
;-----------------------------------------------------------
;             BASIC_HELP
;-----------------------------------------------------------
KEY BASIC_HELP
KEY_WORD_COLOR
Basic Help
""
KEY_WORD_COLOR
TXT_LEFT
Important information about EASY-ROB ...
""
STD_TXT_COLOR
When you start E A S Y - R O B you can specify a
configuration file.
Type in:
""
TXT_TAB
easyrobx.exe my_cnfg.dat
""
TXT_LEFT
default is config.dat
""
This configuration file allows you to set the path for
all files (tool, robot etc.) and specify your preferred
editor
""
default: config.dat
""
WORKDIR= c:\easy_rob\
LICENSE= c:\easy_rob\
HELPFLN= c:\easy_rob\help.hlp
...
EDIT= edit
""
""
""
EASY-ROB runs with the DPMI16
and can allocate your whole memory in your computer if 
you run it from DOS. If you start EASY-ROB in a DOS-box
from wfw.311 you will have less momery (1MB).
""
A monitoring file is created for each EASY-ROB session,
file 'moni.msg'. It containes the amount of allocated
memory and also the coreleft.
Take a look to this file if s.th. is wrong.
""
""
Bugs
""
EASY-ROB runs very well. If it's crashing, please send me
a mail to my internet adress if this error occurs all the
time. Sorry that I cannot test all cases. If you develop
a software, you are using the right keys all the time, so
you will nerver find bugs or only in some cases.
""
""
Speed
""
If you create a cell with a huge number of polygon > 6000
(only visible polygon coounted) and a big number of bodys
> 256 EASY-ROB will slow down your computer. Modify the
yonder, hither and screensize data for speed up.
Menue - Miscellaneous - Grafic view data.
""
;-----------------------------------------------------------
;             ADJ.
;-----------------------------------------------------------
KEY ADJ.
KEY_WORD_COLOR
Adjustment of the World View
""
STD_TXT_COLOR
You can translate (in XYZ) or rotate (about XYZ) the
world. There are 6 possibilities:
""
TXT_TAB
Zoompoint - translate your eye
""
trn_world - translate the word in word axis,
   +Z is up, +X is right, righthand coorsys
""
rot_base  - rotate the word related to the base frame
   this is the green coorsys
HOT_TXT_COLOR
   click "rot_base" again and the rotation point
   is the TCP of the robot
STD_TXT_COLOR
""
rot_world  - rotate the word related to the world
   frame
HOT_TXT_COLOR
   click "rot_world" again and the rotation point
   is the TCP of the robot
STD_TXT_COLOR
TXT_LEFT
""
KEY_WORD_COLOR
REFR
STD_TXT_COLOR
- refresh the screen
""

KEY_WORD_COLOR
MENU
STD_TXT_COLOR
- display main menue
""

KEY_WORD_COLOR
QUIT
STD_TXT_COLOR
- back to menue before
""

KEY_WORD_COLOR
-+_*
STD_TXT_COLOR
- with + / - Key you can zoom in or out
  with * / _ Key you can zoom in or out
  faster
;-----------------------------------------------------------
;             select_body
;-----------------------------------------------------------
KEY select_body
KEY_WORD_COLOR
""
Select Body
""
STD_TXT_COLOR
- select body from list or
  continue for next list
""
;-----------------------------------------------------------
;             select_grp
;-----------------------------------------------------------
KEY select_grp
KEY_WORD_COLOR
""
Select Group
""
STD_TXT_COLOR
- select Group from list or
  continue for next list
""

;-----------------------------------------------------------
;             SELECT_BODY_TYPE
;-----------------------------------------------------------
KEY SELECT_BODY_TYPE
KEY_WORD_COLOR
""
Select Body Type
""
STD_TXT_COLOR
- select a Body from list or
  continue for next list
""
;-----------------------------------------------------------
;             grab_release
;-----------------------------------------------------------
KEY grab_release
KEY_WORD_COLOR
""
Grab or Release body
""
STD_TXT_COLOR
- the current body will grab to or released from
  robots tip
""
;-----------------------------------------------------------
;             select_render
;-----------------------------------------------------------
KEY select_render
KEY_WORD_COLOR
""
Render of body
""
STD_TXT_COLOR
- select bodys render, FALT or WIRE
""
;-----------------------------------------------------------
;             select_color
;-----------------------------------------------------------
KEY select_color
KEY_WORD_COLOR
""
Color of body
""
STD_TXT_COLOR
- select bodys color from list
""
;-----------------------------------------------------------
;             3D-CAD
;-----------------------------------------------------------
KEY 3D-CAD
KEY_WORD_COLOR
""
3D - CAD System
""
STD_TXT_COLOR
- with the EASY-ROB 3D-CAD System you have a tool to
  create bodys like a block, cylinders, spheres etc.
""
- When you work with 3D CAD you have a current selected
  group, default is Bodys [Tool, Robot, Bodys] and a
  current selected body.
  Choose "3D_CAD coorsys ON/OFF" to display the coorsys
  of the current body.
  You are allowed to modify the render, color, name,
  geometric data etc. of the current body.
""
- Go "Select a Body from Group" to choose another body
  for manipulation.
""
- If you create a body its the current one
""
- If the selected group is Robot you are prompted
  to enter the number of the axis or link where the
  created body belongs to.
""
""
KEY_WORD_COLOR
Select   a Group
STD_TXT_COLOR
- select a group for 3D CAD manipulation
  Available groups are Tool, Robot and Bodys
  A group containes bodys
""

KEY_WORD_COLOR
Select   a Body from Group
STD_TXT_COLOR
- select a body from current group for 3D CAD
  manipulation
""

KEY_WORD_COLOR
Create new Body
STD_TXT_COLOR
- create a new body in the current group
""

KEY_WORD_COLOR
Modify selected Body
STD_TXT_COLOR
- modify the geometric data of current body
""

KEY_WORD_COLOR
Grab/Release Body to/from Robot Tip
STD_TXT_COLOR
- grab or release current body to/from the
  robot's tip
""

KEY_WORD_COLOR
Clone
STD_TXT_COLOR
- clone the current body.
  User is prompted to enter how much clones and
  a delta lengths for the location.
  The name of each body got a prefix 1 ... n
""

KEY_WORD_COLOR
Render
STD_TXT_COLOR
- modify the render of current body
""
KEY_WORD_COLOR
Color
STD_TXT_COLOR
- modify the color of current body
""

KEY_WORD_COLOR
Name
STD_TXT_COLOR
- modify the name of current body
""

KEY_WORD_COLOR
Clear
STD_TXT_COLOR
- clear current body after confirm
""

KEY_WORD_COLOR
Clear   all Bodys in Group
STD_TXT_COLOR
- clear all Bodys in Group after confirm
""

KEY_WORD_COLOR
Save   all Bodys
STD_TXT_COLOR
- save all Bodys in a body file *.bod
""

KEY_WORD_COLOR
Translate Rotate all Bodys
STD_TXT_COLOR
- translate and rotate all bodys reference positions
  with respect to the world coorsys
""

KEY_WORD_COLOR
Reference Position
STD_TXT_COLOR
- modify the reference position of current body.
  The reference position is related to the world coorsys
""

KEY_WORD_COLOR
Position
STD_TXT_COLOR
- modify the position of current body.
  The position is related to the reference position
HOT_TXT_COLOR
TXT_TAB
This give the bodys final location.
A bodys final location in the world is
""
body_location = Reference_Position * Position
""
STD_TXT_COLOR
TXT_LEFT

KEY_WORD_COLOR
relative Position
STD_TXT_COLOR
- shift the position by the relative Position
  The new position is
  position = position * relative_position
""

KEY_WORD_COLOR
Move body by mouse
STD_TXT_COLOR
- You can move the current selected body with the mouse
""

KEY_WORD_COLOR
3D_CAD coorsys ON/OFF
STD_TXT_COLOR
- 2 coorsys are diplayed
  1th gives the location of the reference position
  2nd gives the location of the body
""

KEY_WORD_COLOR
quit
STD_TXT_COLOR
- quit this menue

;-----------------------------------------------------------
;             move_body
;-----------------------------------------------------------
KEY move_body
KEY_WORD_COLOR
 -X +X -Y +Y -Z +Z -A +A -B +B -C +C
STD_TXT_COLOR
- translate the body in +/- XYZ or
  rotate it about +/- XYZ (about X is A ...)
""

KEY_WORD_COLOR
 Next
STD_TXT_COLOR
- the next body in the list is the current activ one.
  take a look at the coorsys of the curretn body
""

KEY_WORD_COLOR
 Reset
STD_TXT_COLOR
- reset (undo) the position of the current body
""

KEY_WORD_COLOR
 Quit
STD_TXT_COLOR
- quit this menue
""

KEY_WORD_COLOR
 +-
STD_TXT_COLOR
- increment or decrement the translational step by 2 or
  0.5. Startvalue is 0.05m. The rotational step is 15deg
  and fix.
""

KEY_WORD_COLOR
 p = position
STD_TXT_COLOR
- modify the position of current body.
  The position is related to the reference position
  The bodys final location in the world is
  body_location = Reference_Position * Position
""

KEY_WORD_COLOR
 rp = reference positom
STD_TXT_COLOR
- shift the position by the relative Position
  The new position is
  position = position * relative_position
""

KEY_WORD_COLOR
 m = Modify selected Body
STD_TXT_COLOR
- modify the geometric data of current body
""

KEY_WORD_COLOR
 Adj.
STD_TXT_COLOR
- Adjustment of the World View
""

KEY_WORD_COLOR
 sel
STD_TXT_COLOR
- select a body from current group from list
""

;-----------------------------------------------------------
;             get_file
;-----------------------------------------------------------
KEY get_file
KEY_WORD_COLOR
""
Get File
""
STD_TXT_COLOR
- select file from list or
  continue for next list
""
;-----------------------------------------------------------
;             enter_string
;-----------------------------------------------------------
KEY enter_string
KEY_WORD_COLOR
""
Enter String
""
STD_TXT_COLOR
- enter a string
""
- following characters are allowed
""
  "-" , "." , "_" , "\" , "/"
""
  "0" ... "9"
""
  "A" ... "z"
;-----------------------------------------------------------
;             enter_value
;-----------------------------------------------------------
KEY enter_value
KEY_WORD_COLOR
""
Enter Value
""
STD_TXT_COLOR
- enter a float value
""
- select with Up and Down Arrow-Key
""
- following characters are allowed
""
  "-" , "."
""
  "0" ... "9"
;-----------------------------------------------------------
;-----------------------------------------------------------
KEY


