D0904 Error

    Hello,

    I take the error log from the robot and i notice this error.

    18 - [17/04/10 15:40:13 SIGNAL:00 MON.SPEED : 50 REPEAT mode]
    (D0904)Memory is locked due to AC_FAIL.
    OPERATION1:[17/04/10 15:22:51] ( CYCLE START )
    OPERATION2:[17/04/10 15:22:50] ( Motor power ON )
    OPERATION3:[17/04/10 15:15:09] ( CYCLE START )
    OPERATION4:[17/04/10 15:15:08] ( Motor power ON )
    OPERATION5:[17/04/10 13:40:21] ( Motor power ON )
    OPERATION6:[17/04/10 13:38:48] ( Motor power ON )
    OPERATION7:[17/04/10 12:07:42] ( CYCLE START )
    OPERATION8:[17/04/10 12:07:41] ( Motor power ON )
    OPERATION9:[17/04/10 11:47:45] ( CYCLE START )
    ROBOT1:
    PROGRAM:principal Step:0 Cur_Step:43 STATUS:STOP
    PC1 PROGRAM: autostart.pc Step No: 24 STATUS: RUN
    PC2 PROGRAM: autostart2.pc Step No: 46 STATUS: RUN
    PC3 PROGRAM: autostart3.pc Step No: 21 STATUS: WAIT
    PC4 PROGRAM: autostart4.pc Step No: 18 STATUS: WAIT
    Current Pose
    JT1 JT2 JT3 JT4 JT5 JT6

    63.865 3.663 -43.981 -64.778 0.000 0.000

    Command Pose
    JT1 JT2 JT3 JT4 JT5 JT6

    63.865 3.663 -43.981 -64.778 0.000 0.000

    End Pose
    JT1 JT2 JT3 JT4 JT5 JT6

    63.866 3.663 -43.980 -64.775 0.000 0.000

    Should i be worried? I take a look over the error log and i found twice this error.
    According to the manual, the power supply is abnormality from AVR.

    What was occurring at the time of error?
    Check Operation log and check time of error with time of operations.
    - ie was local backup in process to USB or terminal editor to PC file save, or Auto save function turned on.
    - Error suggests a file save was in process when AC power removed - either by faulty AVR, Operator power controller off, disruption with incoming supplies during a file save operation.

    The error was logged: 18 - [17/04/10 15:40:13 SIGNAL:00 MON.SPEED : 50 REPEAT mode]
    The Controller was powered down at this time and then powered back on again: 139 - [17/04/11 07:12:22] (SIGNAL:00) [ PNL ] Control Power ON
    According to what you have posted.

    It is possible you have a controller with a new feature added, and that feature 'autosaves' to the internal CF Card at periodic intervals (I think it is defaulted at 3hrs).
    - This new feature 'silently' saves ALL data in the cache back to the CF Card, removing the requirement of having to power cycle the controller after changes.
    - I also think this new feature is not a feature you have access to either....so is non adjustable.
    - It is possible that the controller was powered off during this periodic save..........
    - The error is a protection error, to prevent memory from being written too when the 'logic' supplies to the CF Card is too low (ie prevents data corruption).

    But as far as the error is concerned, no need to worry about it, it is doing what it is intended to do..................

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