Learn KUKA-KRL with Real Code Examples

Controller executes KRL programs in real-time

Programs consist of main routines, subroutines, and interrupt handlers

Motion commands reference tool and base frames

Variables and data tracks positions, states, and I/O

Safety modules monitor speed, collision, and emergency stop events

KRL commands executed on KUKA controller

Motion interpolations handled by robot firmware

I/O and sensor signals managed in real-time

Subprograms and variables stored in controller memory

Simulation and optimization done via offline software

Main routine calls subprograms and loops

Interrupts and triggers for real-time events

Separation of motion, I/O, and safety logic

Coordinate frame abstraction for tools and workpieces

Integration with PLCs and external devices via fieldbus or Ethernet

Automated welding cells

Car assembly and painting lines

Material handling with conveyors

Pick-and-place electronics assembly

Multi-robot synchronized operations

Deterministic real-time control

Structured programming for motion and logic

Safety-first architecture with emergency stops

Modular subprograms for reusable sequences

Support for both online and offline programming

Use modular subprograms for large tasks

Coordinate multiple robots via master controller

Leverage I/O and sensor abstraction for expandable cells

Optimize motion sequences for production throughput

Integrate with ERP/MES systems for factory-level automation

Update programs for new KRC controllers

Verify frame and tool definitions

Test motion paths on updated robot firmware

Adjust I/O mapping if hardware changed

Document program revisions for maintenance