KUKA robots are widely used in automotive, aerospace, and precision manufacturing due to their high accuracy, repeatability, and flexibility. However, programming KUKA robots—especially for complex motion paths, force control, and multi-robot synchronization—requires a deep understanding of KUKA Robot Language (KRL) and debugging techniques.
This guide provides a step-by-step approach to KUKA robot motion programming, covering:
✅ KRL syntax and structure
✅ Motion planning (PTP, LIN, CIRC)
✅ Advanced path optimization
✅ Debugging and error resolution
✅ Best practices for industrial applications
KRL is the proprietary programming language used to control KUKA robots. Unlike general-purpose languages (e.g., Python, C++), KRL is optimized for real-time motion control, I/O handling, and safety compliance.
Key Features of KRL
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Modular structure (DECL, INIT, MAIN, EXIT sections)
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Motion commands (PTP, LIN, CIRC, SPLINE)
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I/O and sensor integration (digital/analog signals)
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Error handling (TRY/CATCH blocks)
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Support for KUKA.Option packages (e.g., force control, vision)
Basic KRL Program Structure
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DECL INT counter = 0 // Variable declaration
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DEF MyProgram( )
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INIT
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$BASE = {0,0,0,0,0,0} // Set base coordinate system
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$TOOL = {0,0,0.1,0,0,0} // Define tool offset
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ENDINIT
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MAIN
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PTP {X 100, Y 200, Z 300, A 0, B 0, C 0} C_DIS // Point-to-point motion
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LIN {X 150, Y 250, Z 300} C_DIS // Linear motion
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counter = counter + 1 // Increment counter
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ENDMAIN
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EXIT
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IF counter > 10 THEN
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WARN "Program completed 10 cycles."
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ENDIF
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ENDEXIT
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END
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KUKA robots support four primary motion types, each suited for different applications:
A. Point-to-Point (PTP) Motion
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Fastest but least precise (robot moves via shortest path, not straight line).
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Best for: Pick-and-place, palletizing, non-critical moves.
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Example:
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PTP {X 100, Y 200, Z 300} C_DIS // C_DIS enables dynamic collision detection
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Linear (LIN) Motion
Precise straight-line movement (critical for welding, dispensing).
Best for: Seam welding, adhesive application, CNC machining.
Example:
LIN {X 150, Y 250, Z 300} VEL=0.5m/s ACC=1.0m/s² // Custom speed & acceleration |
C. Circular (CIRC) Motion
Smooth arc movement (requires intermediate and end points).
Best for: Arc welding, polishing, curved surface finishing.
Example:
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