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.
DEF SimpleTestProgram() 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