Introduction to KUKA-DECL variables and protocols

To declare an array or a constant array in a data list with simultaneous initialization:

Declaration and initialization on one line is not allowed. However, initialization must be done directly on the line with the declaration. No lines in between are allowed, nor are empty lines.

If you want to initialize multiple elements of an array, you must specify the elements in ascending array subscript order, starting with the array subscript on the right.

If all array elements of a CHAR type array hold the same string, you do not have to initialize each array element individually. The right-hand side of the array subscript is ignored. (For a one-dimensional array subscript, the subscript is not written.)

Declare the array in the data list and initialize it at the same time:

Data type name [Dimension1 <,..., Dimension3> ]

name[1 <, 1, 1> ] = value 1

] = value2>

...

Name[Dimension1 <, Dimension2, Dimension3> ] = Value N

Declare a constant array in a data list and initialize it at the same time:

DECL CONST data type name [Dimension1 <,..., Dimension3> ]

name[1 <, 1, 1> ] = value 1

] = value2>

...

Name[Dimension1 <, Dimension2, Dimension3> ] = Value N

Example 1: Declaration with predefined data types. The keyword DECL can also be omitted.

Example 2

Declare an array with simultaneous initialization (only possible in data lists).

Naming conventions

The maximum length allowed for names in the KRL is 24 characters.

Names in the KRL are allowed to contain letters (A - Z), numbers (0 - 9), and the special characters "_" and "$".

Names in the KRL are not allowed to start with a number.

Names in KRL are not allowed to be keywords.

Upper and lower case does not matter.

Double declaration of variables

Double declarations always occur when the same variable name (string) is used.

If the same name is used in different *.SRC or *.DAT files, it is not a double declaration.

Double declaration in the same *.SRC and *.DAT file is not allowed and will generate an error message.

Dual declaration in *.SRC or *.DAT file and $CONFIG.DAT is allowed in the following cases:

When the program in which the variable is declared ends, only the value on the local machine is changed, not the value in $CONFIG.DAT.

When a "foreign" program ends, it has access only to the values ​​in $CONFIG.DAT and can only change those values.

Data types in KRL

Predefined standard data types

BOOL: Classic "yes"/"no" result

REAL: Real number, calculation result to avoid rounding errors

INT: Integer, classic counting variable for counting loops or piece counters

CHAR: Only one character

Review editor: Liu Qing