how long recording interval can be is directly influenced by density of recorded points. if you reduce sampling rate, you can cover longer intervals.
btw, why do you want to record at such neck braking pace? 400Hz corresponds to 2.5ms. this is faster than RSI can handle so your only option is FastSendDriver and that you need to purchase from Kuka.
First of start with getting your kss version right. there is no version just called 5, the other numbers do matter. Also if you have a KRC4 then kss version should be in the range of v8.3.XX or something close to that.
Oke now to your problem, you want to record a lot of data. 3 hours with 400hz is 4.320.000 values. Where do you need them? what is your purpose with them?
the only thing that i can think of that get's close to what you want is RSI so you may want to look that up.
If you can live with a lower resolution i think it is possible to use the sps to save data to a TXT file. The resolution is then dependent on what else it is running, but you wont get near your 400hz.
$$$$$ - FastSend Driver can record Cartesian position in fastest mode (1ms)
$$$ - RSI, can record Cartesian position in fast mode (4ms)
free - SPS or ISR, max recording rate limited by interpolation cycle of (12ms)
well... that is still a lot of data. and memory on KRC2 is limited. so probably the simplest option is to stream the robot position continuously. Don;t know what options you have installed or what your programming experience is but using RS232 should be straight forward.
you are still not sharing anything, i already responded three times which is plenty.
if you need help, YOU should be the one doing some legwork. that means at least post some system details so we are not guessing. for example you mentioned KSS but how about installed options?
please read pinned topic READ FIRST...
and if you have KRC2 with KSS5.x, well - its CWRITE does not support reading/writing files.
even if it did, directory size KSS needs may be a limitation for data volume you have in mind.
so... other option is to write own application that will write to the file (not a KRL program, maybe C# or whatever). it could use EthernetKRL, RSI, VarProxy or similar.
For a KRC2, your best bet is probably the RS232 port, streaming the data to an external device. The forum archives have many previous discussions of this topic.
Since the robot's internal Cartesian data only updates every 12ms (ignoring IPO-FAST mode in RSI), and the SPS can loop faster than that, using a $TIMER to limit the transmission to once every 12ms would probably be wise. That also helps avoid any potential buffer overflow issues.
As an alternative to RS232 as described by SkyFire, and depending on the type of I/O installed (Profibus, Devicenet etc.), it may be possible to use 3 virtual analogue outputs and store the resulting values externally on the connected PLC (or PC) along with the sensor values. It should be possible for a 12ms update of the 3 cartesian values via the SPS sub as described.
