OKM Hermes, User Manual, Page: 83 / 140

Chapter 6 Robot Operation
Document Version V3.0 (01-11-2023) 55
Users can download the latest version of the manual
through the official website.
6.1 Prerequisites
1) Familiar with macro instructions.
QKM macro instructions indicate the robot secondary development
language independently developed and defined by QKM based on the QKM
motion control system, which is called Macro instruction set. Macro instructions
can be used to automatically execute defined commands and perform
functions such as complex operations, string processing, interactions between
users and projects, etc.
2) Proficiency in QRL language.
QRL (QKM Robot Language) is a robot secondary development language
based on Lua language and independently defined on the Lie group motion
control system platform. The QRL language is simple and easy to program, not
only supports single statement instruction execution, but also supports
mathematical arithmetic operations, logical operations, conditional control,
loop statement control, thread control and other functions. It can
automatically execute defined commands by performing complex operations,
string processing, performing interaction between users and projects, and
other functions; Users can easily and conveniently develop robot integration