Learn KUKA-KRL-PROPRIETARY with Real Code Examples
Updated Nov 27, 2025
Architecture
KRL programs consist of DEF routines and PROC subroutines
POS and E6POS structures define robot positions and orientations
I/O handling integrated with robot motions for synchronized tasks
Program flow controlled via standard statements (IF, FOR, WHILE)
Offline programming and simulation managed via KUKA WorkVisual
Rendering Model
Robot controller executes DEF routines and PROC subroutines
POS/E6POS define target positions and orientations
I/O handled deterministically within motion instructions
Subroutines encapsulate reusable tasks
Simulation in WorkVisual replicates real robot behavior
Architectural Patterns
Modular procedure-based programming
Task and subroutine hierarchy
Event-driven I/O handling
Motion synchronized with external axes
Safety and error-handling routines integrated
Real World Architectures
Automated assembly lines
Robotic welding cells
Paint shops with precise path control
Material handling and packaging lines
Multi-robot coordinated manufacturing cells
Design Principles
Provide precise real-time robot control
Enable modular, maintainable program structure
Integrate robot motions with I/O devices
Support offline simulation and testing
Maintain compatibility with KUKA controllers and software
Scalability Guide
Use modular PROCs for repeated robot tasks
Integrate additional robots in coordinated systems
Incrementally add sensors and external axes
Optimize motion paths for cycle time
Simulate before full production deployment
Migration Guide
Port legacy KRL routines to updated syntax
Refactor repetitive code into PROC subroutines
Update position definitions with E6POS if needed
Test I/O integration and motion accuracy
Document changes for maintainability and safety