First, the introduction
This chapter provides an overview of the TP DRAM/FILE memory functions. It outlines the requirements, main features, and related documentation for using this functionality within a robot system equipped with the R-30iB control cabinet.
1.1 Robot Requirements
To enable the TP DRAM/FILE Storage function on a robot using the R-30iB control cabinet, it is necessary to install the software option package known as R709 TP DRAM/FILE Storage function. This ensures that the system has access to enhanced memory capabilities for program storage and retrieval.
1.2 Main Functions
The TP DRAM/FILE memory function expands the available external memory space by utilizing CMOS enhancement programs. This allows for more efficient storage and management of programs, especially in systems where standard memory capacity may be limited.
1.3 Related Manual
The information provided here is based on the FANUC R-30iB Controller Option Function Operator's Manual (B-83284EN-2_04), specifically Chapter 29, which details the TP DRAM/FILE Storage function.
Second, the Function Description
2.1 Memory Types
The system supports four types of memory: SHADOW, SHADOW ON DEMAND, FILE, and external memory CMOS. Each serves a different purpose in storing and loading programs efficiently.
- CMOS Memory: Programs stored here are non-volatile, meaning they remain intact even after power loss. It functions similarly to standard controllers.
- SHADOW Memory: The program is stored in FROM (non-volatile) and automatically loaded into DROM (volatile) during startup.
- SHADOW ON DEMAND: The program is stored in FROM but only loaded into DROM when the program is accessed or executed.
- FILE Memory: The program is saved as a TP file and loaded into DROM when the specific directory path is accessed.
2.2 Storage Settings
To configure the storage settings, follow these steps:
1. Select the “select†button to access the configuration screen. If the comment displays “not loaded,†it means that SHADOW ON DEMAND or FILE programs cannot be loaded into DROM.
Figure 1
2. Press F5 ATTR to open the “Storage†screen, as shown in Figure 2.
Figure 2
3. Choose F1 TYPE and then select “Config...†to adjust the settings.
Image 3
4. Use F2 MOVE to transfer programs between different memory types. Confirm with F4 YES to proceed.
Figure 4
5. After moving, the program information will be displayed, showing its new location and status.
Figure 5
2.3 Storage / Loader
When a program is stored as a TP file, the associated register information is also saved. This allows the program to be restored correctly when reloaded. If "Force defaults" is enabled, the program is saved in a subdirectory named "defaults storage."
When saving a program in ASCII format, an LS format file is created. A new storage location is then generated accordingly.
Note: To load an LS format file, you must select the ASCII upload option.
2.4 Backup File
You can back up programs from SHADOW, SHADOW ON DEMAND, and external memory CMOS. For FILE-based programs, make sure to choose the "backup FILE program" option.
2.5 Loading the Program Being Executed
At startup, SHADOW ON DEMAND and FILE programs cannot be loaded immediately. They must be executed before they are loaded into DROM. For example, if TEST01 calls TEST02 through TEST05, those programs will be loaded into DROM once TEST01 starts running.
The larger the FILE program, the longer the loading time. This is important to consider when planning program execution sequences.
Third, the Program Exchange Function When Storage Space Is Not Enough
If there is insufficient DRAM space to load SHADOW ON DEMAND or FILE programs, an error alarm will trigger. To resolve this, the system can replace older programs with new ones during the loading process. Old programs are deleted automatically until enough space is available. Even after deletion, the original registers remain intact and can be reloaded later.
Fourth, the Function Summary
In summary, the TP DRAM/FILE memory function enables efficient storage, loading, and backup of various program types. It enhances system flexibility, especially in scenarios where memory constraints might otherwise limit performance. This feature is essential for managing large programs and ensuring smooth operation in advanced robotic applications.
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