KUKA Robot Language

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	${\displaystyle {-2}^{31}-1...2^{31}-1}$
Real	REAL	Floating-point number	${\displaystyle \pm {1.1}^{-38}...\pm {3.4}^{38}}$
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.

• RAPID

• Braumann, Johannes; Brell-Cokcan, Sigrid (2011). Parametric Robot Control. Integrated CAD/CAM for architectural design (PDF). www.robotsinarchitecture.org. Retrieved 14 May 2016.CS1 maint: ref=harv (link)
• Mühe, Henrik; Angerer, Alwin; Hoffmann, Alwin; Reif, Wolfgang (2010). "On reverse-engineering the KUKA Robot Language". arXiv:1009.5004 [cs.RO].CS1 maint: ref=harv (link)

• KRL Reference Guide. Release 4.1