diff --git a/src/RSIPI/krl_parser.py b/src/RSIPI/krl_parser.py
new file mode 100644
index 0000000..f86c159
--- /dev/null
+++ b/src/RSIPI/krl_parser.py
@@ -0,0 +1,69 @@
+import csv
+import re
+from collections import OrderedDict
+
+
+class KRLParser:
+    """Parses KUKA KRL .src and .dat files, extracting Cartesian coordinates into CSV."""
+
+    def __init__(self, src_file, dat_file):
+        self.src_file = src_file
+        self.dat_file = dat_file
+        self.positions = OrderedDict()
+
+    def parse_src(self):
+        """Parses .src file and collects all positional references."""
+        pattern = re.compile(r"PDAT_ACT=PPDAT(\d+)")
+        with open(self.src_file, 'r') as file:
+            for line in file:
+                match = pattern.search(line)
+                if match:
+                    pos_ref = f"PPDAT{match.group(1)}"
+                    self.positions[pos_ref] = {}
+
+    def parse_dat(self):
+        """Parses .dat file extracting all Cartesian coordinates."""
+        pos_pattern = re.compile(
+            r"DECL E6POS (XP\d+)=\{X ([^,]+),Y ([^,]+),Z ([^,]+),A ([^,]+),B ([^,]+),C ([^,]+),S ([^,]+),T ([^,]+)")
+
+        with open(self.dat_file, 'r') as file:
+            for line in file:
+                match = pos_pattern.search(line)
+                if match:
+                    pos_name = match.group(1)
+                    coords = {
+                        'X': float(match.group(2)),
+                        'Y': float(match.group(3)),
+                        'Z': float(match.group(4)),
+                        'A': float(match.group(5)),
+                        'B': float(match.group(6)),
+                        'C': float(match.group(7)),
+                        'S': int(match.group(8)),
+                        'T': int(match.group(9)),
+                    }
+                    if pos_name in self.positions:
+                        self.positions[pos_name] = coords
+
+    def export_csv(self, output_file):
+        """Exports the parsed positions to CSV."""
+        fieldnames = ["Sequence", "PosRef", "X", "Y", "Z", "A", "B", "C", "S", "T"]
+
+        with open(output_file, 'w', newline='') as csv_file:
+            writer = csv.DictWriter(csv_file, fieldnames=fieldnames)
+            writer.writeheader()
+
+            for idx, (pos_ref, coords) in enumerate(self.positions.items()):
+                if coords:
+                    writer.writerow({
+                        "Sequence": idx,
+                        "PosRef": pos_ref,
+                        **coords
+                    })
+
+
+# Example usage:
+if __name__ == "__main__":
+    parser = KRLParser("path/to/file.src", "path/to/file.dat")
+    parser.parse_src()
+    parser.parse_dat()
+    parser.export_csv("path/to/output.csv")
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