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Questions tagged [kuka-krl]

The KUKA Robot Language, also known as KRL, is a proprietary programming language similar to Pascal and used to control KUKA robots.

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Superpower parser for nested string representation of object tree

I'm struggling to understand how recursive parsing works in Superpower. I've studied the blog posts and the examples on github but still don't understand. Can somebody tell me how, from the Tokenizer I wrote, I could rebuild the AST with the…
Lionel du Peloux
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Using git with KRL (KUKA Robot Language) projects

I have some problems using git with my KRL projects and want to know if there are some workarounds to improve my workflow. KRL is the programming language for industiral KUKA robots. It has a Basic-/Pascal-like syntax. A program consists of one or…
ascaron37
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KRL: Length of an array

In KUKA Robot Language (KRL), is it possible to get the length of an array, or alternatively, is there a way to loop through all the values in an array? Currently I store the array length in a separate variable and do it like this: ; In the DAT…
Miikka
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Kuka robot. Calculate a relative position around TCP

I want to turn the position around the TCP like in jog mode does The first try was to add the value to the position: $TOOL = TOOL_DATA[1] $BASE = BASE_DATA[3] e6pOffsetPos.B = e6pOffsetPos.B + 50 PTP e6pOffsetPos C_DIS Then I tried the geometric…
Daniel Müller Navarro
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kuka_grasp_block_playback.py from bulletphysics/bullet3 (pybullet library) not running on my system.

I downloaded the bullet3 github repository (Bullet Physics SDK) from https://github.com/bulletphysics/bullet3.git which contains python bindings for OpenAI Gym examples to run Reinforcement Learning Algorithms. I tried running the…
Nikunj Gupta
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A strange error about the WAIT FOR statement in KUKA Robot Language(KRL)

When the program reaches "WAIT FOR"(server.src, line 11), the robot stops. And the "START" button must be pressed to continue running. What do I need to do to prevent the robot from stopping when the program reaches "WAIT FOR"? And I use EthernetKRL…
John Tito
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Is it possible to change array size? How do you do it?

Is it possible to change array size at runtime in KUKA KRL programming language? Is it possible to mimic the behavior of List from C#?
Justas Puodžius
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How to store local Sub Program names in an array and call them in a loop iterating over said Array in KUKA Robotic Language

The problem: The main structure of the code the way I want it to be- Def main() decl int i decl char arr[3] INI PTP HOME ... arr[1]='w()' arr[2]='e()' arr[3]='l()' for i=1 to 3 arr[i] endfor END def w() PTP P1 ... END def e() PTP P2…
Battu007
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Is there a way to get power consumption info from KUKA robot?

I want to make an application for monitoring KUKA robot current state. And there I want to send data about current power consumption but couldn't find any system variable which could be useful for me. So, the question is is there a posibility to get…
Emchenko Mikhail
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XML RSI(KUKA robot format) parsing library in boost c++?

I have parse to XML rsi data from Kuka Robot and use it for interfacing Robot with Controller.I Need to know which is the XML Parser to be used for this parsing in boost c++ library?
Chandan Lal
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How to activate gravity compensation at KUKA LBR iiwa

How to activate gravitation compensation at KUKA LBR iiwa? There is a Class GravComp which says, that using the GravComp command will bring the given LBRs into gravitation compensation, but I can't find this command neither a method to start it.
Maxi
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How to know programmatically if Smartpad Emergency stop is pressed?

I have a machine with a lot of emergency buttons and for each one I have a signal to the PLC saying it is pressed. So I know which button is pressed. I also have a KRC4 on the security and I do not have any signal from it to the PLC saying that it's…
jluiz20
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How to insert distance sensor in Kuka robot in webots software

I am trying to add a distance sensor to a kuka robot in webots software KUKA robot that has no field called children but I added the distance sensor in bodyslot field now the sensor is reading nan all the time #include #include…
Gehad Makhlouf
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Kuka.Sim Modelling a Layout

I’m pretty new on simulating. I’m using Kuka.Sim 4.0 and still discovering the simulating programs. As you can see on the image, there must be A,B,C,D tables. Those tables need to vibrate and drop the products to smaller tables in the red area. R1…
Yiğit Yılmaz
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KRL: I want to use the Status Keys of the KRC4 Tablet to send outputs

i already have my code and if i am wrong please correct me. But the code isnt my problem ... i dont know where and how i use it in the KRC4 interface i thought a .src file would be enough inside of the KRC -> R1 -> System Folder ... but guess what…
Wurstfingr
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