Usage of XML and P code for robot motion control

L-IRL (Lola Industrial Robot Language) is procedural language for industrial robot programming. Offline and real-time programming system are main parts of robot programming system based on L-IRL programming language. System for robot programming is using object code as one of the main communication tools between different elements of the system. In this paper we have presented how object code of the compiler can be generated in the form of P code or XML code. This gives software solution that is compact, portable and easy to use with standardized object code that consist information for robot motion control. After generation of object code on the offline part of the system, it is sent to the real-time part of the system using CORBA protocol.