Learn KUKA-KRL with Real Code Examples

KRL is used to program KUKA robots for industrial automation, handling movements, tool operations, and process logic.

Supports motion commands, conditional statements, loops, subroutines, and interrupt handling.

Programs are executed directly on the robot controller for real-time control.

Includes features for trajectory planning, tool and base coordinate systems, and I/O management.

Widely used in automotive, electronics, metal fabrication, and general manufacturing automation.

Motion commands (LIN, PTP, CIRC)

Position and orientation control using frames (BASE, TOOL, WORLD)

Variables, arrays, and logical operations

Subprograms and modular code structure

Safety and override controls

Frames - define robot base, tool, or workpiece reference

Positions - robot target positions (X,Y,Z,A,B,C)

Motion types - PTP (point-to-point), LIN (linear), CIRC (circular)

Variables - store numeric, logical, or positional data

Subprograms - reusable routines for modular coding

Main program (.SRC or .PRG file)

Subprograms (.SRC or .PRG files)

Configuration files for I/O and tool offsets

Motion data and frame definitions

Optional log files for debugging and testing

Define work cell and coordinate frames

Program main routine for robot tasks

Write subroutines for repeated operations

Simulate in WorkVisual or KUKA Sim Pro

Deploy program to robot controller and run with safety checks

Beginner: Move robot between predefined points

Intermediate: Implement pick-and-place operations

Advanced: Welding or painting sequences with tool control

Expert: Integrate sensors and PLC for autonomous cell

Architect: Full factory automation with multiple coordinated robots

KRL vs RAPID (ABB): KRL has structured motion commands; RAPID more integrated with sensors

KRL vs FANUC KAREL: Both proprietary; KRL optimized for KUKA tool chains

KRL vs ROS: ROS provides high-level robot orchestration; KRL is real-time controller language

Offline programming vs online teaching: KRL supports both but online requires manual guidance

Simulation vs real robot: KRL programs must be validated in both environments for safety

1980s - KUKA robot controllers introduced

Late 1980s - KRL introduced for standardized robot programming

1990s - Advanced motion and I/O commands added

2000s - Integration with WorkVisual and simulation tools

2010s - Enhanced safety, multi-robot coordination, and modern controller updates

2025 - Continued updates with new KUKA controller generations and software enhancements

KRL - KUKA Robot Language

PTP - Point-to-point motion

LIN - Linear interpolation motion

CIRC - Circular interpolation motion

Frame - Coordinate system for robot positions