Industrial Robot Language

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The manufacturer-neutral Industrial Robot Language (IRL) is, according to DIN 66312, a uniform programming language that is independent of special industrial robots and controls .

General

The standard defined in one of the programming language PASCAL very ajar style, the syntax and the semantics of the IRL, the basis of which it is possible for the user to program movements of industrial robots and the logic flow in a custom shape. It supports movement as well as acceleration and deceleration instructions. Typical control commands for structured programs such as arithmetic , logical and Boolean operators , queries, loop formation and branch options as well as subroutines are shown.

The 66312 standard was withdrawn on September 2007. There is no successor.

syntax

The syntax of the language structures used is in the Backus-Naur form (BNF). Using common compiler tools such as For example, lex and yacc , a parser can be created that parses the symbols and identifiers of the IRL. The focus is on the central movement language construct MovementStatement , which enables movements of the end effector, called Tool Center Point in IRL, both incrementally and absolutely in the parameter - and in the workspace:

MovementStatement = 
  LinearMovement | PointToPointMovement | ...
  LinearMovement = 
   ( "MOVE" | "MOVE_INC" ) "LIN" ToPoint ... 
  PointToPointMovement = 
   ( "MOVE" | "MOVE_INC" ) "PTP" ToPoint ...

All linguistic elements are understood as geometric expressions. The target point of the MOVE command is interpreted in absolute coordinates, while an incremental MOVE_INC movement is always dependent on the base coordinate system and the position of the end effector.

literature

  • Industrial Robotic Language (IRL) programming language . DIN 66312. German Institute for Standardization (DIN) eV, Berlin 1996

Individual evidence

  1. Perinorm specialist database. Accessed July 7, 2020 (German, English).