Whenever we attempt to run a Force Sensor routine our temp memory depletes to a point so low that the robot faults and gives us VARS-021. The TP freezes whenever this happens usually and we have to restart the controller by power switch to recover. We are using IRVision as well with this robot.
Temp Memory maxed out after Force Sensor Routine Execution
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robosocal -
February 27, 2019 at 5:49 PM -
Thread is marked as Resolved.
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You might consider upgrading your DRAM card. You have a 64 MB card, they now have 128 MB cards. We ended up having to upgrade a couple of ours. Some of ours went as low as 32, which is no longer produced by Fanuc. The DRAM card can be upgraded independently of basically everything else. Take a full backup before, swap the card, reload the backup. Only thing we have had to do was re-establish communication with our safety PLC, which seems to forget what it is doing if we cycle power two times back to back without establishing connection or leave it powered off for any length of time.
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So I definitely should have explained this earlier but we have already upgraded to the 128 MB card and were are still having temp memory issues. What files could be bogging down that down? Vision, Karel files or variables?
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If you upgraded from 64 to 128 and STILL have the issue, then that seems like something is wrong. No single function should be killing that much memory. We have had some luck in the past with memory issues by taking an image backup and reloading it, but i imagine you have already done this with the memory care upgrade.
I have not used this function, have you given it too many degrees of freedom, or too large of a solution space? Maybe it uses whatever internal memory it has available to try to find a solution and either the process exceeds the available memory or there is no available solution. I would try tweaking the parameters of the function to see if a very simple and limited usage has the same result.
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So after some research we found out that our Force Log was set to on and was looking for a UD (memory stick/USB) (FILE-068 UD not detected) to save that data to. When it couldn't find one inserted into the controller it would give us a Data not stored fault ( DMER-024 Data is not saved) and would in turn cause Force Sensor routine to fail (FORC-024 Force control error occurred) . Perhaps the depleted memory was from the controller attempting to save to the controller... All I know it's working now
Thanks for the input! Loving this site!