First, the introduction
This chapter provides an overview of the TP DRAM/FILE memory function. It explains how this feature enhances the storage capabilities of the R-30iB control cabinet, allowing for more efficient program management and execution.
1.1 Robot Requirements
To utilize the TP DRAM/FILE memory function, your robot must be equipped with the R-30iB control cabinet. Additionally, you need to install the software option package known as R709 TP DRAM/FILE Storage Function. This package enables the extended memory features necessary for advanced program handling.
1.2 Main Functions
The TP DRAM/FILE memory function expands the available external memory space by utilizing the CMOS enhancement program memory. This allows for more programs to be stored and managed efficiently, improving overall system performance and flexibility.
1.3 Related Manual
This documentation 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. It serves as a reference for understanding and implementing the memory expansion features correctly.
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 type has its own purpose and behavior when it comes to storing and loading programs.
- CMOS Memory: Programs stored in CMOS memory are non-volatile, meaning they remain even after power loss. These are similar to standard controller memory.
- SHADOW Memory: This memory stores programs in FROM (non-volatile) and loads them into DROM (volatile) at startup. It ensures that essential programs are always available upon booting.
- SHADOW ON DEMAND: Programs are stored in FROM but only loaded into DROM when needed, such as during program reading.
- FILE Memory: Programs are saved in TP files and loaded into DROM when accessed from a specific directory. This is ideal for managing large or less frequently used programs.
2.2 Storage Settings
To configure the storage settings, follow these steps:
1. Select the “Select†button. If “Not Loaded†appears, it means the SHADOW ON DEMAND or FILE program cannot be loaded into DROM.
Figure 1
2. Press F5 ATTR and navigate to the “Storage†screen as shown in Figure 2.
Figure 2
3. Select F1 TYPE and choose “Config...†to access the configuration menu.
Figure 3
4. Use F2 MOVE and select F4 YES to transfer programs between different memory types.
Figure 4
5. After moving, the program information will be displayed as shown in Figure 5.
Figure 5
2.3 Storage / Loader
Storage File: When a program is stored as a TP file, the register information is also saved. This allows the program to be restored accurately when loaded.
If "Force Defaults" is set to "ON," the program will be stored in a subdirectory called "defaults storage."
When saving in ASCII format, an LS format file is created, and a new "storage" directory is generated.
Note: To load an LS format file, you must use the ASCII upload option.
Backup File: You can back up programs stored in SHADOW, SHADOW ON DEMAND, and external memory CMOS. For FILE programs, you must select the "Backup FILE Program" option.
2.4 Loading the Program Being Executed
At startup, SHADOW ON DEMAND and FILE programs cannot be loaded immediately. They must be executed before being loaded into DROM.
For example, when the FILE program TEST01 is executed, it calls TEST02–TEST05, which are then loaded into DROM.
The larger the FILE program, the longer it takes to load into memory.
Third, the Program Exchange Function When Storage Space Is Not Enough
If there is not enough DRAM space to load SHADOW ON DEMAND or FILE programs, an error alarm will occur. The system will automatically replace old programs with new ones until sufficient space is available. Once the new program is loaded, the old programs are deleted one by one. However, their original register data remains intact and can be reloaded if needed.
Fourth, the Function Summary
In summary, the TP DRAM/FILE memory function is designed to enhance program storage, loading, and backup capabilities across various memory types. It improves system efficiency, especially when dealing with large programs or limited memory resources. This feature is essential for advanced robotic applications requiring flexible and reliable program management.
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