Skip to content

Kuka Compact Subroutine

In one sentence: Export a trajectory as a minimal KRL subroutine with one motion instruction per waypoint.

Overview

Workbench: Robot
Menu: Robot → Export Trajectory → Kuka Compact Subroutine
Shortcut: none

Deprecated workbench

The Robot workbench is deprecated as of FreeCAD 1.0.

Writes the selected trajectory to a KRL (Kuka Robot Language) .src file. Each waypoint becomes one motion instruction (PTP or LIN) with its position, velocity, and continuity. Suitable for controllers that accept compact KRL without variable declarations.

Intuition

Compact KRL is the minimal form: each line says "move here, at this speed, using this motion type" — no preambles, no variable declarations, no $TOOL or $BASE setup. Use this for simple trajectories or when your post-processor handles the rest.

When to use it

  • You need a quick export to test on a Kuka controller.
  • Your controller accepts compact KRL without full variable declarations.
  • You are comparing the motion output to a manual programme.

When NOT to use it

  • For production programmes — use Kuka Full Subroutine which includes proper variable declarations and $TOOL/$BASE setup.

Step-by-step

  1. Verify the trajectory with Simulate Trajectory.
  2. Select the Robot::TrajectoryObject.
  3. Choose Robot → Export Trajectory → Kuka Compact Subroutine.
  4. A save dialog appears. Choose a file name with .src extension.
  5. Click Save.

Output format example

DEF Trajectory()
  PTP {A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0} Vel=100% PDAT1
  LIN {X 100, Y 0, Z 500, A 0, B 0, C 0} Vel=2 m/s CPDAT1
END

See also