KUKA Robot Language

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KUKA Robot Language
Designed byKUKA
DeveloperKUKA
Influenced by
Pascal

The KUKA Robot Language, also known as KRL, is a proprietary programming language similar to Pascal and used to control KUKA robots.[1][2]

Features[edit]

Any KRL code consists of two different files with the same name: a permanent data file, with the extension .dat, and a movement command file, with the extension .src.[3]

KRL has four basic data types:[4]

Data type Keyword Meaning Range of values
Integer INT Integer
Real REAL Floating-point number
Boolean BOOL Logic state TRUE, FALSE
Character CHAR Character ASCII character

User can also create custom data types using enumeration. Enumeration and basic data types can be used to create arrays and structures.

Motion commands support several types of structures as data formats:

FRAME {X 10, Y 0, Z 500, A 0, B 0, C 0}

POS {X 10, Y 0, Z 500, A 0, B 0, C 0, S 6, T 21}

E3POS {X 10, Y 0, Z 500, A 0, B 0, C 0, S 6, T 21, E1 0, E2 0, E3 0}

E6POS {X 10, Y 0, Z 500, A 0, B 0, C 0, S 6, T 21, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

AXIS {A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0}

etc.

Robot joints are A1-A6.

External axis joints are E1-E6.

Frame value is sufficient to specify TCP location and orientation. But to also detremine unique robot arm pose, additional info is required - S and T or Status and Turn. They are collection of flags stored as integer.

See also[edit]

References[edit]

Sources[edit]

  • Braumann, Johannes; Brell-Cokcan, Sigrid (2011). Parametric Robot Control. Integrated CAD/CAM for architectural design (PDF). www.robotsinarchitecture.org. Retrieved 14 May 2016.
  • Mühe, Henrik; Angerer, Alwin; Hoffmann, Alwin; Reif, Wolfgang (2010). "On reverse-engineering the KUKA Robot Language". arXiv:1009.5004 [cs.RO].

External links[edit]