[Albert]

Great, thank you for letting us know.

I recommend you to split the program into smaller parts to narrow this issue again.

[NassimCHINE]

Hello do you have any idea about, how to solve this error "ERR 4120 Concurrent I/O memory is full",

Please help me?

[Albert]

This message "ERR 4120 Concurrent I/O memory is full" probably means that you don't have any disk space left on the memory of the robot controller. I would recommend you to delete the programs you are not using to have some free space.

[NassimCHINE]

Thank you lot for your help, i solve the problem,
I need again help to solve a problem with machining programme ,it has more that 9999 steps, any solution to solve this problem, The error that i had is Alarm 4202[19]

Thank you

Code:

/JOB
//NAME Poche3
//POS
///NPOS 22261,0,0,0,0,0
///USER 2
///TOOL 1
///POSTYPE USER
///RECTAN
///RCONF 1,0,0,0,0,0,0,0
C00000=126.936,230.579,15.0,0.0,0.0,0.0
C00001=126.936,230.579,5.0,0.0,0.0,0.0
C00002=126.936,230.579,3.1,0.0,0.0,0.0
C00003=126.941,230.551,2.918,0.0,0.0,0.0
C00004=126.956,230.47,2.753,0.0,0.0,0.0
C00005=126.974,230.343,2.62,0.0,0.0,0.0
C00006=126.989,230.181,2.533,0.0,0.0,0.0
C00007=126.995,230.0,2.5,0.0,0.0,0.0
........
C22258=161.748,177.004,-5.585,0.0,0.0,0.0
C22259=161.724,176.988,-5.4,0.0,0.0,0.0
C22260=161.724,176.988,15.0,0.0,0.0,0.0
//INST
///DATE 2024/07/09 13:24:51
///COMM Generated using RoboDK
///ATTR SC,RW,RJ
////FRAME USER 2
///GROUP1 RB1
NOP
MOVL C00000 V=80.0
MOVL C00001 V=80.0
MOVL C00002 V=80.0
MOVL C00003 V=80.0
........
MOVL C22259 V=80.0
MOVL C22260 V=80.0
END

[Sergei]

You can split a large output program into subprograms by using the Tools - Options - Program - Maximum number of lines per program : 

   

[Borgis1]

I split at 2000 Lines. That is just under 500k of code which is the limit of at least my controllers.

//NAME Poche3 <- NAME should be in capital letters on motoman. as in POCHE3.
You can upload and delete Poche3, but it you use capital letters you can overwrite instead of deleting first.

[Albert]

Thank you for your feedback. We'll update RoboDK soon to output programs for Motoman always in upper case (the file name, the name tag inside the program and JOB program calls).

[Borgis1]

Thank you, I solved the problem by adding my frame, but now I have another problem with another code for machining with 738 positions. I got the error 3220:
Syntax error in the instruction data (J: Write1 L:0001) [58]

Find attached the machining code:

I've been busy for some weeks, but this error is either because ,rj is missing from the middle part or vj speed is with 1 decimal instead of two. I've tried all the errors, and the usual suspects are either the ,rj parts or the pulse  missing from the turntables. Which is thing that needs fixing on all motoman posts. Will make a new post about this

[Albert]

RoboDK will automatically add pulse data for external axes like turntables or rails when you have them as part of your system in RoboDK.

Did you add the turntable in RoboDK and synchronized it with your robot?
What controller are you using?

[Borgis1]

RoboDK will automatically add pulse data for external axes like turntables or rails when you have them as part of your system in RoboDK.

Did you add the turntable in RoboDK and synchronized it with your robot?
What controller are you using?

Will make a new thread, it is not posted correctly towards the yrc1000.
Syncronized yes. It behaves correctly when I remove sync.