Oh no! Where's the JavaScript?
Your Web browser does not have JavaScript enabled or does not support JavaScript. Please enable JavaScript on your Web browser to properly view this Web site, or upgrade to a Web browser that does support JavaScript.
Articles

KUKA KRL (KUKA Robot Language) Example Program: Moving Between Points

Below is an example of a simple KUKA KRL (KUKA Robot Language) program. It demonstrates basic movements of the robot using PTP (Point-to-Point) and LIN (Linear) commands.

 


Example Program: Moving Between Points

&ACCESS RVP
&REL 1
&COMMENT "Basic Movement Example"
DEF ExampleProgram( )

 ; Initialize the program
 BAS (#INITMOV, 0) ; Basic initialization for movement

 ; Define positions
 DECL E6POS P1 ; Declare position P1
 DECL E6POS P2 ; Declare position P2
 
 P1 = {X 500, Y 200, Z 300, A 0, B 0, C 0, S 0, T 0} ; Set coordinates for P1
 P2 = {X 700, Y -200, Z 400, A 0, B 0, C 0, S 0, T 0} ; Set coordinates for P2

 ; Start motion
 PTP P1 C_PTP ; Move to P1 using Point-to-Point motion with continuous path
 LIN P2 ; Move to P2 using Linear motion
 PTP HOME ; Move back to HOME position
 
END

Explanation:

  1. Header (

    &ACCESS
    ,
    &REL
    ,
    &COMMENT
    ):
    These lines provide metadata for the program and are not part of the actual motion logic.

  2. DEF and END:

    • DEF ExampleProgram
      : Defines the name of the program.
    • END
      : Marks the end of the program.
  3. BAS Command:

    • BAS (#INITMOV, 0)
      : Initializes the movement system, ensuring the robot is ready to execute commands.
  4. Position Definitions:

    • E6POS
      : A structure for defining 6D positions (X, Y, Z, A, B, C).
    • Positions
      P1
      and
      P2
      are defined with Cartesian coordinates.
  5. Movement Commands:

    • PTP P1
      : Moves the robot to
      P1
      using a Point-to-Point motion.
    • LIN P2
      : Moves the robot to
      P2
      using a Linear motion.
    • PTP HOME
      : Sends the robot to the predefined HOME position.
  6. Modifiers:

    • C_PTP
      : Ensures continuous motion between points if possible.

Notes:

  • Safety First: Ensure the robot workspace is free of obstructions when testing programs.
  • Simulation: Test the program in a simulation environment like KUKA Sim before running on the actual robot.
  • Variables: Modify
    X
    ,
    Y
    ,
    Z
    ,
    A
    ,
    B
    ,
    C
    values as needed for your specific application.
  • HOME Position: Define the
    HOME
    position in your controller's configuration.

 

caa December 04 2024 37 reads 0 comments Print

0 comments

Leave a Comment

Please Login to Post a Comment.
  • No Comments have been Posted.

Sign In
Not a member yet? Click here to register.
Forgot Password?
Users Online Now
Guests Online 2
Members Online 0

Total Members: 12
Newest Member: karthik
StatCounter - Free Web Tracker and Counter