running subprogram from my laptop

if you can communicate between with PC and robot, you could transfer the program number to the robot, in the robot , through the prog no to call the subprogram . the key point is the communicate interface.

hi has anyone made this? im interested on this topic. cause we have a lots of file on milling application and r1 doesnt have enough memory. can anyone suggest something?

thanks and regards.

You're speaking of something completely different. The thread was about controlling programs from a remote computer, not loading them.

KUKA's DirLoader option might work, if your KRC1 is not too old.

Failing that, you could transmit lists of coordinates to the robot via FieldBus or RS232, and fill a motion array before beginning motion.

@emben: If your KRC version is 5.5 or higher than we might have a solution for you. Write us a short PM if you are interested.

OrangeApps-Team

Quote from SkyeFire

You're speaking of something completely different. The thread was about controlling programs from a remote computer, not loading them.

KUKA's DirLoader option might work, if your KRC1 is not too old.

skyfire,
isnt kukadirloader is only for copying and deleting files on a certain path?

Yes, that's correct. It would allow you to reduce the total static memory load by only loading the set of programs that you need immediately.

The problem of individual program size is less amenable to solution, especially on a robot that old. Generally the approach is to use more widely-spaced program points to reduce the total number of points in the program, and to break up complex paths into multiple smaller programs that can be called in sequence.

You might be able to increase the RAM installed on the motherboard, and then increase the KSS memory size to match, but I've never done this on a KRC1, only KRC2s. And you have to be very careful about your RAM -- VxWorks, as a hard-realtime OS, is much more sensitive to minor timing errors in RAM that Windows can generally ignore. That's one reason that replacement RAM for KUKAbots is so expensive -- it's guaranteed to work with these tight timing tolerances. Regular off-the-shelf PC RAM may or may not work, it's a crapshoot.

skyfire,
what about on krc4? have you tried it? 8.3.

Quote from SkyeFire

Yes, that's correct. It would allow you to reduce the total static memory load by only loading the set of programs that you need immediately.

The problem of individual program size is less amenable to solution, especially on a robot that old. Generally the approach is to use more widely-spaced program points to reduce the total number of points in the program, and to break up complex paths into multiple smaller programs that can be called in sequence.

You might be able to increase the RAM installed on the motherboard, and then increase the KSS memory size to match, but I've never done this on a KRC1, only KRC2s. And you have to be very careful about your RAM -- VxWorks, as a hard-realtime OS, is much more sensitive to minor timing errors in RAM that Windows can generally ignore. That's one reason that replacement RAM for KUKAbots is so expensive -- it's guaranteed to work with these tight timing tolerances. Regular off-the-shelf PC RAM may or may not work, it's a crapshoot.

skyfire,
can you give me an instruction how you do it on krc4. wanna try it on krc4. thanks
thats might what we need.
emben

(hm, I seem to have gotten my threads crossed)

Never tried it on a KRC4. If such an option exists, you would probably have to discuss it with KUKA Service.

You mentioned "Milling programs." You might want to look into KUKA.CNC. That's another option that's new to the KRC4. I haven't used it myself, but I know it's intended for use with G-Code programs produced from CAD/CAM software for CNC machines.