Kuka Full Subroutine¶

In one sentence: Export a trajectory as a complete KRL programme with variable declarations, tool and base frame setup, and one motion instruction per waypoint.

Overview¶

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

Deprecated workbench

The Robot workbench is deprecated as of FreeCAD 1.0.

Writes the selected trajectory to a KRL .src file including full programme structure: DEF/END block, E6POS and E6AXIS variable declarations for all waypoints, $TOOL and $BASE setup, and one motion instruction per waypoint. This output can be loaded directly onto a Kuka controller.

Intuition¶

Where Compact KRL is a quick sketch, Full KRL is the complete programme: it declares every variable, sets up the tool and base frames, and provides everything the controller needs to run the programme independently. Use this for actual robot deployment.

When to use it¶

You are generating a programme for deployment on a real Kuka controller.
Your controller requires full variable declarations.
You need $TOOL and $BASE frame setup in the programme.

Step-by-step¶

Verify the trajectory with Simulate Trajectory.
Verify that robot.Tool and base frame match the controller configuration.
Select the Robot::TrajectoryObject.
Choose Robot → Export Trajectory → Kuka Full Subroutine.
Save the .src file.

Output format example¶

DEF Trajectory()
  ; Tool and base declarations
  $TOOL = TOOL_DATA[1]
  $BASE = BASE_DATA[1]

  ; Point data
  DECL E6POS Pt1 = {X 100, Y 0, Z 500, A 0, B 0, C 0, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

  ; Motion instructions
  LIN Pt1 Vel=0.5 m/s CPDAT1

END

Common mistakes and pitfalls¶

Joint values look correct but TCP positions are wrong

Cause: The robot.Tool or base frame number does not match the controller's configuration.
Fix: Verify that the tool number and base number in FreeCAD match the corresponding TOOL_DATA and BASE_DATA entries on the controller.