• Source: KUKA Robot Language

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.
KRL has four basic data types:

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


RAPID




References






Sources


Braumann, Johannes; Brell-Cokcan, Sigrid (2011). Parametric Robot Control. Integrated CAD/CAM for architectural design (PDF). 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


KRL Reference Guide. Release 4.1

Kata Kunci Pencarian:

• KUKA Robot Language
• KUKA
• List of programming languages
• Robot
• Industrial robot
• RAPID
• Robotics
• Cobot
• KRL
• History of robots