[H.tanino]

We are currently working on a robot machining project, and the following issues were raised duringcommunication with the robot integrator.
(In this case, we are assuming the use of Yaskawa Electric robots)

When performing robot machining with large amounts of data, the capacity of Yaskawa Electric's robot controller becomes full. Therefore, it seems that a method is taken to use an application called Motocom 32 to send operation data via ethernet communication, but the robot seems to stop when reading data at the beginning and end of the division program. Since stopping during machining affects the workpiece, it seems that the method is to divide the data when the cutting tool retracts (at the time of air cutting).

I think it is difficult to divide data at the time of retraction in RoboDK's division program settings, but is it possible to achieve it? I think it would be more realistic to devise a data transmission speed so as not to exceed the buffer limit of the robot controller.

[Albert]

I recommend you to generate JBI programs for long robot machining program that you need to run on Yaskawa/Motoman robots. RoboDK automatically splits long programs into smaller subprograms so they can be loaded and run on the Yaskawa/Motoman robot controller without issues. You can configure the size of each program here:

1. Select Tools-Options
   
2. Select the Program tab
   
3. Check the option Maximum number of lines per program
   

If you still prefer to use the driver for production (live communication between the robot and RoboDK), I recommend you to use the default driver for Yaskawa/Motoman robots. RoboDK uses the Motocom 32 library when you connect to the Yaskawa/Motoman robot using the apimotoman driver. This driver is not the default one as we developed our own integration in RoboDK to communicate with Yaskawa Motoman robots (MotomanHSE driver). Keep in mind that using the Motocom 32 library requires a paid option provided by Yaskawa/Motoman on each robot.