Kuka Krc2 Program call

Create another program and simply call them:

Def main

Prog1(<parameters>)

Prog2(...)

Prog3(...)

End

You just need to put the program name You want to call, followed by (). What is inside the parenthesis will depend if the subprogram works with arguments/parameters, or not.

MyProgram ()

The example below is an excerpt from Cell.src

You will see program P00 being called some times, with different parameters, and some EXAMPLE programs, being called normally.

LOOP

P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )

SWITCH  PGNO ; Select with Programnumber

CASE 1
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
EXAMPLE1 ( ) ; Call User-Program

CASE 2
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
EXAMPLE2 ( ) ; Call User-Program

CASE 3
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
EXAMPLE3 ( ) ; Call User-Program

DEFAULT

P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )

ENDSWITCH

ENDLOOP

END

KRL has no equivalent to Fanuc TP-Language's CALL command. Instead, calls are implicit.

Generally, if you have created a module call FOO, you can call it from any other program by simply coding FOO() -- the () are required. If FOO accepts arguments, you would need to fill in the arguments you are passing inside the (), separated by commas: FOO(variable1,variable2)

It becomes slightly more complicated if you have multiple subroutines and/or functions defined inside a single module .SRC file. For KRL modules, the "top" routine has the same name as the module itself, so FOO.SRC would begin with DEF FOO(). This "top" routine is global by default, and can be called from anywhere.

If FOO.SRC contains other DEFs or DEFFCTs, however, those subroutines (DEFs) and functions (DEFFCTs) can only be called by routines inside of FOO.SRC (their "scope" is to the module), unless the DEF/DEFFCT line includes the keyword GLOBAL. If any routine/function is declared using the GLOBAL keyword, it becomes available to be called from anywhere in the robot. This can be convenient, but also requires you to ensure that no two Global routines ever have the same name.