Kuka KRL library of useful functions

  • Hello friends,

    Here is a repository with some useful KRL functions I wrote in my spare time.

    GitHub - skilledAutomation/kuka_krl_wonderlibrary: A collection of useful functions for KUKA KRL language
    A collection of useful functions for KUKA KRL language - GitHub - skilledAutomation/kuka_krl_wonderlibrary: A collection of useful functions for KUKA KRL…

    Consider to contrinube with your code if you find it interesting.

    Kind Regards,

    Davide Rosa

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  • just skimmed through... looks very similar to way i tend to do things. will try to do a closer check later.

    first impressions:

    there are not many people contributing so things like this are always welcome - clearly an effort went into this and for many users this could be a lifesaver. hope the others chime in, feedback is always precious. :thumbs_up:

    not sure if all code would compile as is. need to check with OL. so far i see missing dependency - in this case MSG() is not included.

    also not sure what MSG is supposed to do. does not seem to be displaying message since some of strings are way too long so they cannot fit into message buffer (maximum is 80 chars). perhaps just an oversight, for example text was changed just before sharing (maybe translation or formatting etc.)

    so for anyone trying to test it right now, maybe adding a dummy sub like this could help get by and focus on the rest.

    DEF MSG(txt[]:in)
      DECL CHAR txt[]

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • Thank you for your comments panic mode .

    I added the missing MSG procedure.

    Added the geometric library. Actually it just contains LINE_2D, but I planned to write LINE_3D, PLANE, CIRCUMFERENCE... (I have some c++ code ready to be translated to KRL)

    The geometric library is untested. I kindly ask someone to test it, because I have not OfficeLite or Robots actually.

    Kind Regards.

  • Hello friends,

    Today added LINE 3D, VECTOR 3D and PLANE geometric data structures and functions.

    I made different syntax corrections using WoV, but it could be great if someone could test it with a robot or OfficeLite.

    Kind Regards

  • Hello friends,

    just to inform you that I added some other data structures and functions to the library. Now geometric library has to be tested, I will try to make a testing function.

    I will not write further updates here in the forum to avoid spamming. Just consider that libray is evolving, so when you will need it, use updated copy.

    Have a wonderful day.

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