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Frame value is sufficient to specify TCP location and orientation. But to also determine unique robot arm pose, additional info is required - S and T or Status and Turn. They are collection of flags stored as integer.
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Any KRL code consists of two different files with the same name: a permanent data file, with the extension .dat, and a movement command file, with the extension .src.
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User can also create custom data types using enumeration. Enumeration and basic data types can be used to create arrays and structures.
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Mühe, Henrik; Angerer, Alwin; Hoffmann, Alwin; Reif, Wolfgang (2010). "On reverse-engineering the KUKA Robot
Language".
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E6POS {X 10, Y 0, Z 500, A 0, B 0, C 0, S 6, T 21, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
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Parametric Robot
Control. Integrated CAD/CAM for architectural design
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E3POS {X 10, Y 0, Z 500, A 0, B 0, C 0, S 6, T 21, E1 0, E2 0, E3 0}
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Motion commands support several types of structures as data formats:
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405:Braumann, Johannes; Brell-Cokcan, Sigrid (2011).
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250:{\displaystyle \pm {1.1}^{-38}...\pm {3.4}^{38}}
313:AXIS {A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0}
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301:FRAME {X 10, Y 0, Z 500, A 0, B 0, C 0}
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177:{\displaystyle {-2}^{31}-1...2^{31}-1}
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468:KRL Reference Guide. Release 4.1
378:Braumann & Brell-Cokcan 2011
354:Braumann & Brell-Cokcan 2011
322:External axis joints are E1-E6.
103:KRL has four basic data types:
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488:Robot programming languages
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319:Robot joints are A1-A6.
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195:Floating-point number
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85:and used to control
79:programming language
18:KRL (disambiguation)
16:For other uses, see
68:KUKA Robot Language
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24:KUKA Robot Language
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415:. Retrieved
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272:TRUE, FALSE
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268:Logic state
81:similar to
76:proprietary
477:Categories
342:References
289:character
453:1009.5004
437:ignored (
427:cite book
283:Character
277:Character
233:±
216:−
206:±
169:−
156:−
143:−
109:Data type
42:Developer
330:See also
96:Features
399:Sources
261:Boolean
130:Integer
123:Integer
115:Meaning
112:Keyword
74:, is a
417:14 May
90:robots
83:Pascal
59:Pascal
448:arXiv
412:(PDF)
336:RAPID
316:etc.
287:ASCII
160:1...2
439:help
419:2016
280:CHAR
264:BOOL
191:REAL
188:Real
87:KUKA
66:The
47:KUKA
35:KUKA
238:3.4
211:1.1
126:INT
72:KRL
479::
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429:}}
425:{{
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