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.
This is the program we will be executing.
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DEF ExampleProgramName()
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
$APO.CDIS = 0.5000
BAS (#INITMOV,0)
BAS (#VEL_PTP,20)
BAS (#ACC_PTP,20)
$advance=5
$TOOL={X 0, Y 0, Z 0, A 0, B 0, C 0}
$BASE={X -75, Y -1638, Z 492, A 0, B 0, C 0}
$VEL.CP=0.3
PTP {A1 90, A2 -75, A3 100, A4 169, A5 -60, A6 -150, E1 0, E2 180, E3 0, E4 0, E5 0, E6 0}
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
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