Upgrading KUKA RAM

  • Hi guys,


    KRC4, KSS 8.3


    I have an application where I need a very large number of points to be saved into robot memory. Currently I have maxed out the available memory on my controller. I am hoping if a simple RAM upgrade (from standard 256 MB to ~1-2 GB) would be a suitable fix for my problem. I understand that I may have to change some system variables with regarding to memory, but I am wondering if people have increased their robot's RAM before?


    The reason I ask is because I just got off the KUKA hotline and the gentleman I spoke with told me it was not possible and that it is not done on KUKA robots. I have read the forums here where I know some users have upgraded the RAM to increase available memory, increase processing speed, etc.


    Can somebody point me in the right direction to help me figure out A) can I upgrade my RAM? and B) what is the proper way to do it?


    Thank you so much!

  • It's been done on KRC1s and KRC2s, but I have not been able to find any means of doing it on a KRC4. The big issue appears to not be the physical RAM, of which there is plenty, but some kind of internal limitation on the VxWorks virtual machine where all the robot's OS and applications reside. From what I've been told, the /R1 directory tree has a maximum capacity of 8-9MB. Which is ridiculously tiny for a modern piece of machinery, but it is what it is. Increasing the physical installed RAM won't affect this limit. There were some hacks to modify these limits on the earlier KRCs, but I'm fairly sure these don't work on the KRC4s.


    If you don't need all those points in the robot at the same time, you could perhaps use the DirLoader application.


    There's EKI, which some posters have used to load positions from a remote server on demand. I've also had some luck loading points from a text file, which could be as large as you like -- the UserFiles directory has several GBs of free space. Both of these require some careful programming to get the timing right and avoid stop&go motions, but it's been done.

  • [...] I've also had some luck loading points from a text file, which could be as large as you like -- the UserFiles directory has several GBs of free space. Both of these require some careful programming to get the timing right and avoid stop&go motions, but it's been done.

    Hello SkyeFire

    I'm facing this issue of limited memory space in the R1 directory (KRC4, KSS 8.3).

    The solution I've implemented at the moment is using EKI to stream data, but it would be very helpfull to know how to use txt files saved in the user directory (and also avoid stop&go motions).

    Could you give me some tips on how to do it?

    Thank you anyway

  • For using text files- read CRead/CWrite manual (in the manuals section of the forum).

    Specifically CWRITE function calls ($FCT_CALL) krl_fopen, krl_fgets, krl_fprintf and (obviously :smiling_face: ) krl_fclose.

    To avoid stopping, you simply have to have a buffer of movements that is bigger than your $advance value. Which means that either you have to either :

    1. read movements from file in parallel (and ahead) of motion

    2. Stop, stock the buffer, execute the movements.

  • There are some detailed discussions in the forum archives on this very topic -- search for "KRL_FGETS", or maybe just "KRL_F". A lot should turn up.


    I'm pretty sure Panic Mode posted the CWRITE/CREAD manual that has all the gory details in the Manuals sub-forum. One thing to keep in mind: there was a KSS 8.2 version of this manual that is not valid for KSS 8.3+. Several items in the file access commands were changed, so make sure you're using the correct manual.

  • yeah, RAM upgrade is a dead end. all KRC4 with KSS8.3 have 2Gb but most of it is used by Windows and KUKA is pointing fingers at WindRiver for limited resources wxWorks can handle.


    They suggested to contact WindRiver and ask them to increase memory. So this is where all of you can ask about it and suggest to increase limits:


    https://www.windriver.com/company/contact/

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • There are some detailed discussions in the forum archives on this very topic -- search for "KRL_FGETS", or maybe just "KRL_F". A lot should turn up.


    I'm pretty sure Panic Mode posted the CWRITE/CREAD manual that has all the gory details in the Manuals sub-forum. One thing to keep in mind: there was a KSS 8.2 version of this manual that is not valid for KSS 8.3+. Several items in the file access commands were changed, so make sure you're using the correct manual.

    Good afternoon. 2nd day I sit and deal with the manual 8.2 and here I come across your message.:tired_face:

    Please give a link to 8.3. The search engine does not find it.

  • Hi, I also have similar problem. I have KUKA.CNC program and I am wondering Is it possible to execute over 40 mb cad files in a single shot? How many points it can move without stopping ?

  • Hi, I also have similar problem. I have KUKA.CNC program and I am wondering Is it possible to execute over 40 mb cad files in a single shot? How many points it can move without stopping ?

    Isn't that the whole point of kuka.cnc?


    File size isn't an issue because the ISG NC kernel doesn't need to compile Gcode like krl does, it only needs to read x amount of blocks at a time in advance.

  • Isn't that the whole point of kuka.cnc?


    File size isn't an issue because the ISG NC kernel doesn't need to compile Gcode like krl does, it only needs to read x amount of blocks at a time in advance.

    Thank you for your answer colinb83. So you mean it does not matter size of dat file in /R1 directory if we use KUKA_CNC ?. Sorry for my lack of knowledge about KUKA_CNC . I would glad if you could give me litte bit more detailed information about KUKA_CNC because I have read the User Guide still has many missing information.

  • Thank you for your answer colinb83. So you mean it does not matter size of dat file in /R1 directory if we use KUKA_CNC ?. Sorry for my lack of knowledge about KUKA_CNC . I would glad if you could give me litte bit more detailed information about KUKA_CNC because I have read the User Guide still has many missing information.

    You can run the nc file from any location, even from a USB stick Kuka.Cnc doesn't require the file to be in the R1 directory.

  • What sort of detailed information do you require? It's a bit of a vague question without explaining your application, robot model and kss version.


    Kuka.Cnc is a very powerful tech package with many uses, it runs on the back of ProConOs so with multiprog you can customise it to do many things.

  • What sort of detailed information do you require? It's a bit of a vague question without explaining your application, robot model and kss version.


    Kuka.Cnc is a very powerful tech package with many uses, it runs on the back of ProConOs so with multiprog you can customise it to do many things.

    well, Actually I am still in research level and I need deep into the KUKA_CNC first then I will have some questions to ask probably. btw thank you so much for your detailed information it widened my wisdom.

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