The KUKA Robot Language, also known as KRL, is a proprietary programming language similar to Pascal and used to control KUKA robots.
Features
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 | − 2 31 − 1...2 31 − 1 {\displaystyle {-2}^{31}-1...2^{31}-1} |
| Real | REAL | Floating-point number | ± 1.1 − 38 . . . ± 3.4 38 {\displaystyle \pm {1.1}^{-38}...\pm {3.4}^{38}} |
| 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 determine 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
Sources
- Braumann, Johannes; Brell-Cokcan, Sigrid (2011). Parametric Robot Control. Integrated CAD/CAM for architectural design (PDF). Archived from the original (PDF) on 28 August 2017. Retrieved 14 May 2016. {{cite book}}: |website= ignored (help)
- Mühe, Henrik; Angerer, Alwin; Hoffmann, Alwin; Reif, Wolfgang (2010). "On reverse-engineering the KUKA Robot Language". arXiv:1009.5004 [cs.RO].
External links
References
Braumann & Brell-Cokcan 2011, p. 243. - Braumann, Johannes; Brell-Cokcan, Sigrid (2011). Parametric Robot Control. Integrated CAD/CAM for architectural design (PDF). Archived from the original (PDF) on 28 August 2017. Retrieved 14 May 2016. https://web.archive.org/web/20170828235219/http://www.robotsinarchitecture.org/wp-content/uploads/2012/04/ACADIA2011_robarch.pdf ↩
Mühe et al. 2010, p. 1. - Mühe, Henrik; Angerer, Alwin; Hoffmann, Alwin; Reif, Wolfgang (2010). "On reverse-engineering the KUKA Robot Language". arXiv:1009.5004 [cs.RO]. https://arxiv.org/abs/1009.5004 ↩
Braumann & Brell-Cokcan 2011, p. 244. - Braumann, Johannes; Brell-Cokcan, Sigrid (2011). Parametric Robot Control. Integrated CAD/CAM for architectural design (PDF). Archived from the original (PDF) on 28 August 2017. Retrieved 14 May 2016. https://web.archive.org/web/20170828235219/http://www.robotsinarchitecture.org/wp-content/uploads/2012/04/ACADIA2011_robarch.pdf ↩
Mühe et al. 2010, p. 2. - Mühe, Henrik; Angerer, Alwin; Hoffmann, Alwin; Reif, Wolfgang (2010). "On reverse-engineering the KUKA Robot Language". arXiv:1009.5004 [cs.RO]. https://arxiv.org/abs/1009.5004 ↩