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:
-
Header (
,&ACCESS
,&REL
): These lines provide metadata for the program and are not part of the actual motion logic.&COMMENT
-
DEF and END:
: Defines the name of the program.DEF ExampleProgram
: Marks the end of the program.END
-
BAS Command:
: Initializes the movement system, ensuring the robot is ready to execute commands.BAS (#INITMOV, 0)
-
Position Definitions:
: A structure for defining 6D positions (X, Y, Z, A, B, C).E6POS
- Positions
andP1
are defined with Cartesian coordinates.P2
-
Movement Commands:
: Moves the robot toPTP P1
using a Point-to-Point motion.P1
: Moves the robot toLIN P2
using a Linear motion.P2
: Sends the robot to the predefined HOME position.PTP HOME
-
Modifiers:
: Ensures continuous motion between points if possible.C_PTP
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
values as needed for your specific application.C
- HOME Position: Define the
position in your controller's configuration.HOME
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