KUKA Robot Language
| Designed by | KUKA |
|---|---|
| Developer | KUKA |
| 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
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 common 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 |
There are many different ways of giving a movement command to a robot using the KRL. The most common ones are:[3]
- Joint coordinate programming. Gives each axis a rotation value to reach. For example: A1 0, A2 10, A3 90, A4 20, A5 60, A6 25.
- Cartesian coordinate programming. Defines a location and orientation of the end-effector in a defined Cartesian coordinate system. For example: X 10, Y 20, Z 40, A 45, B 75, C 1.
See also
References
- ↑ Braumann & Brell-Cokcan 2011, p. 243.
- ↑ Mühe et al. 2010, p. 1.
- 1 2 Braumann & Brell-Cokcan 2011, p. 244.
- ↑ Mühe et al. 2010, p. 2.
Sources
- 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
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