A Guide to the Syntax of KRL (KUKA Robot Language)

KRL (KUKA Robot Language) is a programming language used to program KUKA industrial robots. It's powerful and flexible, allowing control of the robot's movements, signal processing, interaction with peripheral devices and much more. Below we provide a complete guide to KRL syntax.

1. Basic elements of KRL

• Comments:
  Comments start with ; and are used for explanations in the code.
  Example:

• Variables:
  Variables are declared with the keyword DECL.
  Example:

• Data types:
  INT – integer
  REAL – floating-point number
  BOOL – Boolean value (TRUE/FALSE)
  CHAR – character
  STRING – string
  FRAME – coordinate system
  POS – position
  AXIS – robot axes

2. Robot movements

• LIN (linear motion):
  Motion in a straight line between two points.
  Example:

• PTP (point-to-point motion):
  Motion between points without a specific path.
  Example:

• CIRC (circular motion):
  Motion along an arc through three points.
  Example:

3. Program control

• IF-ELSE:
  Conditional statements.
  Example:

• FOR loop:
  Repeating a block of code.
  Example:

• WHILE loop:
  Repeating while a condition is true.
  Example:

• SWITCH-CASE:
  Choosing between multiple options.
  Example:

4. Functions and procedures

• Defining a function:
  Functions are defined with DEF.
  Example:

• Calling a function:
  Example:

• Function parameters:
  Example:

5. Working with signals

• Reading an input signal:
  Example:

• Writing an output signal:
  Example:

6. Working with tools and coordinate systems

• Defining a tool (TOOL):
  Example:

• Defining a coordinate system (BASE):
  Example:

7. Error handling

• TRYN-CATCH:
  For handling exceptions.
  Example:

8. Additional commands

• WAIT:
  Pausing program execution.
  Example:

• LOOP:
  An infinite loop.
  Example:

9. Sample program

10. Additional resources

• KUKA OfficeLite: A simulation environment for testing KRL programs.
• KUKA System Software (KSS): Official KRL documentation.
• KUKA College: Training and courses on programming KUKA robots.

KUKA's official website, where you can find documentation, products and contacts, is at https://www.kuka.com/

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