VENDOR CHEAT SHEET

One pick-and-place, seven robot languages

The same 12-step pick-and-place cycle, written in ABB RAPID, KUKA KRL, FANUC TP, Mitsubishi MELFA BASIC V, Universal Robots URScript, Yaskawa INFORM, and Kawasaki AS. Each row is one logical step — read across to see how every controller expresses it.

ABB · RAPID

KUKA · KRL

FANUC · TP

Mitsubishi · MELFA BASIC V

Universal · URScript

Yaskawa · INFORM

Kawasaki · AS

Step	ABB RAPID	KUKA KRL	FANUC TP	Mitsubishi MELFA BASIC V	Universal URScript	Yaskawa INFORM	Kawasaki AS
01 Program header	PROC main()	DEF main()	/PROG MAIN	10 ' Pick and place	def main():	NOP	.PROGRAM main()
02 Set default speed	! speed via v-tag	$VEL.CP = 0.5	! speed in motion	20 Spd 100	# speed in motion	! speed in motion	SPEED 50 ALWAYS
03 Move joint to home	MoveJ home, v1000, fine, tool0;	PTP home	J P[1] 100% FINE	30 Mov P0	movej(home, a=1.4, v=1.05)	MOVJ P000 VJ=50.00	JMOVE home
04 Move linear to pick	MoveL pick, v500, fine, tool0;	LIN pick	L P[2] 500mm/sec FINE	40 Mvs P1	movel(pick, a=1.2, v=0.25)	MOVL P001 V=100.0	LMOVE pick
05 Close gripper (DO ON)	SetDO doGrip, 1;	$OUT[1] = TRUE	DO[1]=ON	50 M_Out(1) = 1	set_digital_out(1, True)	DOUT OT#(1) ON	SIGNAL 1
06 Wait 0.5 s	WaitTime 0.5;	WAIT SEC 0.5	WAIT 0.50(sec)	60 Dly 0.5	sleep(0.5)	TIMER T=0.50	TWAIT 0.5
07 Retract to home	MoveL home, v1000, fine, tool0;	LIN home	L P[1] 1000mm/sec FINE	70 Mvs P0	movel(home, a=1.2, v=0.5)	MOVL P000 V=100.0	LMOVE home
08 Move linear to place	MoveL place, v500, fine, tool0;	LIN place	L P[3] 500mm/sec FINE	80 Mvs P2	movel(place, a=1.2, v=0.25)	MOVL P002 V=100.0	LMOVE place
09 Open gripper (DO OFF)	ResetDO doGrip;	$OUT[1] = FALSE	DO[1]=OFF	90 M_Out(1) = 0	set_digital_out(1, False)	DOUT OT#(1) OFF	SIGNAL -1
10 Wait 0.5 s	WaitTime 0.5;	WAIT SEC 0.5	WAIT 0.50(sec)	100 Dly 0.5	sleep(0.5)	TIMER T=0.50	TWAIT 0.5
11 Return to home	MoveJ home, v1000, fine, tool0;	PTP home	J P[1] 100% FINE	110 Mov P0	movej(home, a=1.4, v=1.05)	MOVJ P000 VJ=50.00	JMOVE home
12 End of program	ENDPROC	END	/END	120 End	end	END	.END

Full programs, side-by-side

The cheat sheet above is line-aligned. Below is each language as a single, copy-pasteable program.

ABB

RAPID

PROC main()
  ! speed via v-tag
  MoveJ home, v1000, fine, tool0;
  MoveL pick, v500, fine, tool0;
  SetDO doGrip, 1;
  WaitTime 0.5;
  MoveL home, v1000, fine, tool0;
  MoveL place, v500, fine, tool0;
  ResetDO doGrip;
  WaitTime 0.5;
  MoveJ home, v1000, fine, tool0;
ENDPROC

KUKA

KRL

DEF main()
  $VEL.CP = 0.5
  PTP home
  LIN pick
  $OUT[1] = TRUE
  WAIT SEC 0.5
  LIN home
  LIN place
  $OUT[1] = FALSE
  WAIT SEC 0.5
  PTP home
END

FANUC

/PROG MAIN
  ! speed in motion
  J P[1] 100% FINE
  L P[2] 500mm/sec FINE
  DO[1]=ON
  WAIT 0.50(sec)
  L P[1] 1000mm/sec FINE
  L P[3] 500mm/sec FINE
  DO[1]=OFF
  WAIT 0.50(sec)
  J P[1] 100% FINE
/END

Mitsubishi

MELFA BASIC V

10 ' Pick and place
20 Spd 100
30 Mov P0
40 Mvs P1
50 M_Out(1) = 1
60 Dly 0.5
70 Mvs P0
80 Mvs P2
90 M_Out(1) = 0
100 Dly 0.5
110 Mov P0
120 End

Universal

URScript

def main():
  # speed in motion
  movej(home, a=1.4, v=1.05)
  movel(pick, a=1.2, v=0.25)
  set_digital_out(1, True)
  sleep(0.5)
  movel(home, a=1.2, v=0.5)
  movel(place, a=1.2, v=0.25)
  set_digital_out(1, False)
  sleep(0.5)
  movej(home, a=1.4, v=1.05)
end

Yaskawa

INFORM

NOP
! speed in motion
MOVJ P000 VJ=50.00
MOVL P001 V=100.0
DOUT OT#(1) ON
TIMER T=0.50
MOVL P000 V=100.0
MOVL P002 V=100.0
DOUT OT#(1) OFF
TIMER T=0.50
MOVJ P000 VJ=50.00
END

Kawasaki

.PROGRAM main()
  SPEED 50 ALWAYS
  JMOVE home
  LMOVE pick
  SIGNAL 1
  TWAIT 0.5
  LMOVE home
  LMOVE place
  SIGNAL -1
  TWAIT 0.5
  JMOVE home
.END

Notes

FANUC TP encodes speed inside each motion line; ABB RAPID uses a separate v-tag (v500, v1000); KUKA KRL sets a global $VEL.CP before motion.
Yaskawa INFORM teaches positions as P000…P002; FANUC TP uses P[1]…P[3]; URScript expects full pose literals like p[x,y,z,rx,ry,rz].
Digital outputs differ in syntax but mean the same thing: ABB SetDO, KUKA $OUT[], FANUC DO[], MELFA M_Out(), URScript set_digital_out, Yaskawa DOUT OT#(), Kawasaki SIGNAL n (-n = OFF).
MELFA BASIC V requires line numbers; the others do not.