what software exactly was added to the KRC?
does KRC perform as expected? is the robot affected by changes?
are you sure that the bottleneck is KRC and not the external PC or applicaiton running on that external PC?
There are minimal changes (to be able to shift to a different robot if needed), Only KukaVarProxy was added. The KRC is working as expected. There aren't any additional applications running, so I am sure the bottleneck is not caused by the external PC. The external PC is communicating with KRC4 using openshowvar and KVP only. There is an endless loop running in KRC, with the cell program structured as a switch case section. The KRC is waiting for a case number and then acts according to the case.
Quote from MOMI did not have a closer look to openshowvar, but
using "showvar" to update variables (in very short intervals) is wasting cpu resources (normally setinfo is used for that)
I am using controlling the robot using python on external PC via openshowvar<==>KVP connection. I am not familiar with setinfo. Can you detail a bit more?
Very Interesting, Thank you for conducting this comparison. I appreciate it.
I wasn't familiar with c3bridge. Will give it a look.
Though I am not sure it will solve the issue as the CPU usage goes up to 100% for several seconds due to other processes. It will also bottleneck the c3bridge process. No?
I have a theory that maybe, just maybe, KUKA disabled RDP from KSS 8.6 onward because of CPU usage.
edit: I see that c3bridge requires windows. While our external PC is running on Linux.