KRC4 program capacity

When and where under what conditions? The question is far to vague:

Holding in the real-time controller?
On the hard disk on Windows?
While executing?

Any specific problem you encountered?

Check out Dirloader tool. Usually it helps.

Fubini

Quote from JonatanSemp

How many megabytes does the KUKA KRC4 support for programming?

The first limit you can hit is the RAM limit, and (last time I ran into it), it was very low -- only about 4MB. That was about 10 years ago, under KSS 8.3. This is not a physical RAM limit -- adding more RAM does not improve this situation. It's a limit inherent to something in VxWorks/KSS.

Briefly: The KRC runs everything from RAM. The HDD contents are loaded into the RAM drive during boot, but all execution and edits are made in the RAM drive, with periodic or event-driven writes from the RAM drive to the HDD.

The only way (so far) to get around the RAM limit is to use the DirLoader and "swap" program modules in/out of the RAM drive.

Quote from JonatanSemp

Thanks for the information, and how does DirLoader work? Could you clarify this for me?

DirLoader basically does a similar series of actions as if you were deleting a module, then loading a different one, manually on the pendant. But performs this in Auto modes. This requires jumping through some hoops, given the way KSS performs a compile/link cycle every time a module is modified.

For example, let's say CELL links to Module Alpha, which links to Modules Bravo, Charlie, and Delta. But you want the DirLoader to swap out Bravo, Charlie and Delta for Echo, Foxtrot, and Golf. The DirLoader will:

1. Comment out the call to Alpha from CELL
2. Delete Alpha, Bravo, Charlie, and Delta
3. Load the contents of a directory, in alphabetical order, linking each module as it loads. Thus, the naming of the modules needs to be such that the modules are called in reverse order of dependency, from "lowest" to "highest."
4. The directory will need to contain Echo, Foxtrot, and Golf, as well as a different version of Alpha (same name, different contents) that calls E, F, and G instead of B, C, and D.
5. Un-comment the line(s) commented out of Cell in Step 1
6. Complete

The DirLoad works, but it's a bit of a kludge to work around a bunch of very old (over 40 years at this point) core Module-handling behaviors in KSS.