SPLINE is too long> error in kuka

[OXIDO]

Hello,
I have a spline with over 3000 points, and the KUKA shows me an error "SPLINE is too long". I think this is more of a RAM problem. Has anyone faced a similar problem or have a solution for this?

I have already tested to break the spline into 1500 points each; the program works, but there is also a small pause between the two splines.

Best,
Ojas

[Johannes @ Robots in Architecture]

Basically you should be able to blend two splines, however with 1500 points each the brief pause may be the robot looking at all the points to calculate the trajectory. Do you have the same pause blending two splines with 10 positions?

As always the disclaimer to be careful around splines as they are efficient, "beautiful" paths, but they are not B-splines and the Grasshopper preview may not be accurate. They may also differ between two robots as they take the robot kinematics into account, as far as I know.

Best,
Johannes

[OXIDO]

Is there a way for KUKA to read a spline with 5,000 points? I want to avoid cutting them.
Can I get a new RAM, for example?

[Johannes @ Robots in Architecture]

The normal point limit is quite a bit higher than that, so I'm not sure if RAM is really the issue.
My guess is computational effort to plan a spline consisting of so many points. But that is just a guess.

Best,
Johannes

[OXIDO]

Hello,
It's a super crazy issue I am facing right now. We are working with splines; each spline has 500 points. The KUKA processes 3 layers and then shows an error of Spline too long. After a cold start, the KUKA processes only 2 layers and shows the same error.

A few months back, we ran the same program 36 times without any errors. Has anyone faced this problem before, or knows a solution for this??

Thanks,
Ojas

[Johannes @ Robots in Architecture]

Hmmm... Are there any other files on the robot drive (R1...)?
I would delete all larger programs except for the current one. Take care that there are also some necessary default programs in the program folder that you shouldn't delete!
Best,
Johannes

[OXIDO]

Hi Johannes,
It works.
Can I know the reason behind this?

I need a bunch of programs to run automatically at night. This is not possible with this problem.

[Johannes @ Robots in Architecture]

Hi,

Well, don't quote me on that, but the robot has got its own "real-time" memory from where it can run all its programs - this is why you need to copy them there and cannot just push them over via a fileshare. That memory is limited. I have seen some ways to increase that, but you can mess up your robot software, so make a backup image first.
Possible solutions are: KUKA techpackages like DirectoryLoader that can automatically load and run programs and CNC which simply does not have a relevant filesize limit. There are also non-KUKA solutions like OrangeApps PointLoader that stream commands instead of loading it all into memory.

Hope that helps!
Best,
Johannes