In this section we will run a simple KUKA program that moves the arm in a rectangle. This is a simple file to illustrate the main elements of a KUKA program.
The following video briefly shows what this program will look like when the robot executes it.
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This is the program we will be executing.
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You can download this file here.
;Any line that has a semicolon in front of it is a comment and isn't read by the machine
;Define the name of the program
DEF ExampleProgramName()
;these are some set up variables you don't have to worry about right now
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE
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DO
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IR_STOPM
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(
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)
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$APO.CDIS
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=
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0.5000
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BAS
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(#INITMOV,0)
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BAS
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(#VEL_PTP,20)
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BAS
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(#ACC_PTP,20)
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$advance=5
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;Defines the coordinates of the tool attached to the robot, relative to the flange
$TOOL={X
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0,
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Y
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0,
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Z
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0,
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A
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0,
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B
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0,
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C
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0}
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;Defines the Origin of the base, where all the consequtive commands are relative to
$BASE={X
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-75,
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Y
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-1638,
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Z
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492,
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A
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0,
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B
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0,
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C
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0}
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;Set speed in meters/second
$VEL.CP=0.3
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;First we must tell the program what the initial axis position should be
PTP {A1
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90,
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A2
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-75,
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A3
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100,
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A4
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169,
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A5
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-60,
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A6
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-150,
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E1
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0,
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E2
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180,
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E3
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0,
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E4
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0,
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E5
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0,
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E6
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0}
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;Finally, we give it a series of LIN commands to trace out a square in space
;E1 and E2 are the external axis
LIN {X 0, Y 0, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS
LIN {X 0, Y 300, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS
LIN {X 300, Y 300, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS
LIN {X 300, Y 0, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS
LIN {X 0, Y 0, Z 400, A 90, B 0, C 180, E1 0, E2 180} C_DIS
END