How KUKA robots implement the KRL variable

KRL is KUKA's programming language, and when programming a robot, variables are memory of various calculated values presented during the operation of the robot program. Each variable belongs to a specific data type, and it is necessary to declare the data type before using it; Variables can be divided into local variables and global variables according to the storage orientation. A global variable that applies to all programs. A local variable is built in a program module and therefore only applies to that program module. The rules of the variable world are as follows:

How KUKA robots implement the KRL variable

How KUKA robots implement the KRL variable

(1) The length of the variable title *** is 24 more characters.

(2) The variable title is intended to contain letters (A - Z), numbers (0 - 9), and special characters "_" and "$".

(3) Variable titles are not promised to be numerically initial.

(4) The variable title does not allow the use of system keywords.

(5) The title of the variable is not case-sensitive (but it is still recommended to use the hump rule to demarcate the variable).

(6) Variable naming *** is good without underscore, it is recommended to use the camel naming convention. When a variable does not have an underscore, it is possible to quickly access the variable in KCP, and there is no need for an underscore in the variable name.

(7) Variables should be prefixed according to their data type, and their titles should briefly describe their utility in a concise manner

1.1.1 Variable Titles

1. Input and output signal variables:

(1) Single input signal (1 bit) - The prefix i starts to indicate a single input signal:

　　SIGNAL iVacuumOk $IN[1]

(2) Multiple input signals (> 1 bit) - the prefix gi starts to indicate the input signal group:

　　SIGNAL giSt12PlateType $IN[1281] TO $IN[1296]

(3) Single output signal (1 bit) - The prefix O starts with a single input signal:

　　SIGNAL oErrorTarget $OUT[1265]

(4) Multiple output signals (> 1 bit) - the prefix go starts to indicate the output signal set:

　　SIGNAL goStartValueEnc1 $OUT[705] TO $OUT[721]

(5) Imitation of input signal - the prefix AI starts to indicate that the input signal is imitated:

　　SIGNAL aiWeldVoltage $ANIN[1]

(6) Imitation output signal - the beginning of the prefix ao indicates that the analog output signal is simulated:

　　SIGNAL aoActPower $ANOUT[1]

2. Boolean variable - the prefix b starts with indicating the boolean type:

　　DECL BOOL bGripperEmpty= TRUE

3. Signed integer variable - the prefix z starts with a boolean type:

　　DECL INT zTarget = 2

4. Single-precision floating-point type variables - prefix r starts with a boolean type:

　　DECL REAL rCenterOffset= 0.0

5. FRAME-type variable - prefix f starts with a boolean type:

　　DECL FRAME fStackCorrection[2]

6. Enumerated variables - start with the prefix e to indicate the boolean type:

　　DECL ENUM ePostion HOME,STACK12,STACK34,CULLET,DROPOFF_CONV,RAZING

　　DECL ePostion POSITION = #HOME

7. Struct Type Variable - Prefix S Boundary says struct type, but variable Bounded says no prefix:

　　DECL STRUC sRackData INT nActType,…

　　DECL sRackData Stack[2]

　　Stack[1]= {nActType 1,…}

8. POS/AXIS/E6POS/E6AXIS Azimuth Type Variable - Prefix x Boundary Variable:

(1) Calculate the obtained variables - prefix MX boundary variables:

　　DECL POS mxAfterTouched[2]

(2) The azimuth variable obtained by teaching - the variable with the prefix x boundary:

　　DECL E6POS xStack12A = {X … }

9. Character and string type variables - prefix s boundary variables:

　　DECL CHAR sCharacter= "A"

1.1.2 Fundamental Benchmarking

1. For all variable types, constants are preceded by a c, followed by a variable prefix (see 1.1.1):

　　DECL INT czCompMin = 30

2. For all variable types, local variables start with l (local):

　　DECL INT lzCompMin = 30

3. For all variable types, the running process variable is preceded by an n:

　　DECL INT nzActStack

4. For all variable types that have passed through the external signal piercing program, if it is an input signal, the second character is i; If it is an output signal, the second character is O:

　　DECL BOOL biProgramEnd= FALSE

　　DECL INT zoPlateType = 1

5. Naming rules for coordinate points/coordinate directionsIt is necessary to adhere to standardized point titles to make the movement easy to read.

(1) Start/end: e.g. xHomeA, xStack12A, etc.

(1) The movement from one station to another will never use the starting point.

(2) The title of the point always specifies the bearing

How KUKA robots implement the KRL variable

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