UR10e - Are there program size limitations?

I am trying to develop a workflow for a pelletized plastic extruder (i.e. 3D printing) mounted to a UR10e (running Polyscope 5.11). I am using RoboDK’s Python API to create the program. Unfortunately, it appears the robot is unable to cope with programs much larger than 5000 lines - either the program doesn’t load, the robot hangs or we get a ‘ValueStack Full Capacity’ error. For my purposes, I desire programs with at least 50,000 (if not more) lines. Has anyone else come across this issue or can someone suggest a pathway forward? I am assuming that RoboDK’s ‘run on robot’ functionality is the same as remotely running UR Scripts via a socket - i.e. it doesn’t result in smooth motion between waypoints as the handshake protocol only issues one command at a time and waits receipt? I would also add that the UR10e seems worse than its predecessor (UR10 CB series) as the workflow above was developed on an older CB which could load much larger programs albeit with very long wait times. I’m hoping I have missed something completely obvious!

1 Like

Hi @max.maxwell,

I am not aware of any well documented program size limit. But I have experienced that sending an external script is not equal to starting a program in Polyscope. So it might be an option to make a setup something like the ROS driver external control approach:

Or you can make use of the Interpreter mode, that is available on the e-Series
https://www.universal-robots.com/articles/ur/programming/interpreter-mode/

Best regards
Ebbe

Thank you Ebbe, I will explore the use of the ‘Interpreter mode’

hi @max.maxwell

did it work to use the interpreter mode?
Are you able to send lagre .nc-programs to the robot by using interpreter mode or have you found another solution?

Best regards
Matthias

Hi Matthias

Thank you for your reply. Unfortunately, we have not been able to solve the issue as yet. I haven’t had a chance to attempt using Interpreter mode but have essentially exhausted every other pathway. Ultimately, I am an architect and not a roboticist and although I am reasonably well versed in Python I feel like this is getting pretty heavy going and moving away from our core goal which is to teach students how to make things within an Product Design and Architectural context. To date, we have been using RoboDK software to interface our CAD geometry / toolpaths (from Rhino3D) with URP / Script files. This has been productive for pick and place routines and low waypoint tasks like hot wire cutting of foam but certainly not for 3D extruding. I have friends in Germany and France facing the exact same issues. At this point, most of us believe we need to change platforms -i.e. Kuka and use their CAM software – to really make this process work for our purposes.

Would Remote TCP and Toolpath work for your 3D printing application? If you are creating a CAM path you could then upload it the UR and using specific Mcodes I believe its M62 and M63 you can trigger tool I/Os. I have not tested the file size limitations here but maybe this may be an idea to pursue. Anyways hope that helps and best of luck!

Universal Robots - Remote TCP & Toolpath URCap FAQ