This will demonstrate a typical arc welding application with proper structure and commands.
&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF WELD_SAMPLE()
;****************************************
; KUKA Arc Welding Sample Program
; Application: Linear weld seam
; Author: Sample
; Date: 2025-11-29
;****************************************
;--- DECLARATIONS ---
DECL AXIS HOME
DECL AXIS PSTART
EXT BAS (BAS_COMMAND :IN, REAL :IN )
;--- INITIALIZATION ---
BAS (#INITMOV,0 ) ; Initialization of velocities and accelerations
;--- HOME POSITION ---
HOME = {AXIS: A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0}
;--- MOVE TO HOME ---
PTP HOME Vel=100 % DEFAULT
;--- APPROACH START POSITION ---
; Move to position above weld start
PTP {X 500, Y 200, Z 600, A 0, B 90, C 0} C_DIS
; Move to weld start position
LIN {X 500, Y 200, Z 450, A 0, B 90, C 0} C_DIS
;--- WELD PREPARATION ---
; Turn on gas pre-flow
$OUT[1] = TRUE
WAIT SEC 0.5
; Arc strike - turn on welding
$OUT[2] = TRUE
WAIT SEC 0.1
;--- WELDING MOTION ---
; Linear weld seam with arc on
LIN {X 500, Y 400, Z 450, A 0, B 90, C 0} Vel=0.5 m/s CONT
; Continue weld seam
LIN {X 500, Y 600, Z 450, A 0, B 90, C 0} Vel=0.5 m/s
;--- WELD TERMINATION ---
; Crater fill delay
WAIT SEC 0.2
; Arc off
$OUT[2] = FALSE
WAIT SEC 0.1
; Gas post-flow
WAIT SEC 0.5
$OUT[1] = FALSE
;--- RETRACT FROM WELD ---
; Move away from workpiece
LIN {X 500, Y 600, Z 600, A 0, B 90, C 0} C_DIS
;--- RETURN HOME ---
PTP HOME Vel=100 % DEFAULT
END
;****************************************
; DIGITAL OUTPUT ASSIGNMENTS
;****************************************
; $OUT[1] = Shielding Gas
; $OUT[2] = Arc On/Off
; $OUT[3] = Wire Feed
; $OUT[4] = Touch Sensing
;
; WELDING PARAMETERS
;****************************************
; Voltage: 22-26V (set on welding machine)
; Current: 180-220A (set on welding machine)
; Wire Speed: 5-7 m/min
; Gas Flow: 15-18 L/min
;****************************************
Key Features:
Initialization: Proper setup with BAS command for motion initialization
Home Position: Safe axis configuration (A1-A6)
Approach Sequence: Moves to position above weld, then descends to start point
Welding Process:
Gas pre-flow (0.5 sec)
Arc strike
Linear weld motion at 0.5 m/s
Crater fill delay
Proper arc termination
Gas post-flow
Safety: Retract and return to home position
Digital I/O Configuration:
OUT[1]: Shielding gas control
OUT[2]: Arc on/off
OUT[3]: Wire feed (can be added)
OUT[4]: Touch sensing (optional)
The program uses standard KUKA Robot Language (KRL) syntax with PTP (point-to-point) and LIN (linear) motion commands. You'll need to adjust:
Actual coordinates for your workpiece
Welding speed based on material/thickness
I/O numbers to match your controller configuration
Welding parameters on your power source
