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KUKA机器人变量说明文档
. PM Team
KUKA China | 20.06.2016 | Seite 1
Simple data types
KUKA China | 20.06.2016 | page 2
Simple data types
KUKA China | 20.06.2016 | page 3
Definition of “variables”
In addition to the use of constants (digits, characters, etc.),
memory locations are also defined in the robot controller in
which these values can be stored.
This stored information can thus be retrieved at various points in the program
for evaluation and further processing.
A variable is a fixed memory area, whose contents can be addressed via
the variable name.
Example:
Variable name
...
Part_counter = 37
... Content of the
variable
KUKA China | 20.06.2016 | page 4
Declaration of variables
Variable declarations always have the following syntax:
DECL Data_Type Variable_Name
Example:
Def Main( )
DECL INT part_counter
INI
... End
KUKA China | 20.06.2016 | page 5
Variables and names
Variable names in KRL
? can have a maximum length of 24 characters.
? can consist of letters (A-Z), numbers (0-9) and the signs ‘_’ and ‘$’.
? must not begin with a number.
? must not be a keyword.
KUKA China | 20.06.2016 | page 6
Simple data types
Data type Integer Real Boolean Character
Keyword INT REAL BOOL CHAR
Meaning Integer
Floating-point
number
Logic state
1 character
Range of
values
-231
...
(231-1)
+/-1.1E-38
...
+/-3.4E+38
TRUE,
FALSE
ASCII
character 1-
255
Example 32 1.43 TRUE “A”
KUKA China | 20.06.2016 | page 7
Basic structure of a robot program
DEF NAME( )
; Declaration section
...
; Initialization section
...
; Instruction section
...
END
KUKA China | 20.06.2016 | page 8
Activating the DEF line
? Variables must be declared before the INI line
? In order to set syntax before the INI line, the DEF line must be
activated
KUKA China | 20.06.2016 | page 9
Declaration and value assignment
DEF MAIN_PROGRAM( )
; Declaration section
DECL INT PART
; Initialization section
INI ;Initialization of acceleration and velocity
; Instruction section
PART=58 ;Value assignment, decimal
PART=
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