S4 contoller - modules and memory question....

[an69]

Hi to all!

We have irb 6400 m98 and s4 controller, our cam system is generate program size about 10 megabytes.

We divide it into modules:
1. modules 50kilobytes each
2. modules 700 kb each
3. modules 1.3 mb each


we have 2MB memori in s4 controller-operative memori

What is the best way for us? Can we upgrade memori size? 

[prnuk2003]

What is your CAM system, what are your products for a program of this size?
Some offline software can generate huge amounts of move instructions if 'auto generate' is used so are you programs mainly move instructions?

The biggest memory size would be 16MB (+ main computer) but a 10MB program size is equivelent to 30 to 40MB when loaded into memory (not mass storage) so there is no way the memory can handle this if all loaded at the same time.

From the Manual:

          Memory                                  Memory size             Instructions*
Program memory:
Standard                                                2.5 MB**                    7500
Extended memory 8 MB                           6.0 MB**                   18000

Mass storage***:   
RAM memory 
Standard                                                  0.5 MB                     3000
Extended 8 MB                                          4 MB                       31000
Diskette                                                  1.44 MB                    15000



• Memory board –
contains extra RAM memory, there are three sizes, 4mb,  8 and 16 MB.
• Main computer board –
contains 8 MB RAM memory and the main computer, which controls the entire
robot system.
*) Depending on type of instruction.
**) Some software options reduce the program memory. See Product
Specification RobotWare.
***) Requires approx. 3 times less space than in the progra

[an69]

prnuk2003 thank for your advice!

Yes, we generate only moveL code. ((.

If we generate a program with moveC and moveL combination there is an error such as "three points on a strenght line". Or three point is too close, or start and endpoints of circle is too close.

We do not solve this problem yet....

[prnuk2003]

I think your software is definitely making too many points and it appears that it is generating points on the MoveC that the mid point (first robtarget) does not have enough 'offset' on the path that allows the curve to be calculated by the robot software.

You must be cutting or something similar so those programs are always position heavy but if (for example ) you have a long straight cut of 0.5m then if you program that 'online' by point to point normally you would have two or three points - Offline software can auto generate 20 or 30 positions for the same distance and long curves normally two moveC but the software splits it up into 10 or 20 MoveC (giving you the errors below).
It is possible to change some settings to increase the distance on auto generate or to start manually deleting points that are necessary.

These position heavy modules make very hard programs to maintain due to the vast number of points.