[Cause]
Insufficient memory has been allocated internally, so program execution cannot continue. This alarm may occur because many consecutive short-distance CNT motions increase memory consumption. It is especially likely when acceleration/deceleration times are long and different motion types, such as joint and Cartesian motions, alternate frequently in a continuous sequence.
[Countermeasure]
After this alarm occurs, cycling the power allocates more internal memory than before. Execute the same program after cycling the power. If the alarm recurs, cycle the power again to allocate still more memory. Repeat power cycling until the alarm stops occurring. If the alarm persists after repeated power cycles, take the following action.
(1) Check that at least 3000KB remains in the temporary area on the memory usage screen.
(2) Please set the value of $CP_PARAMGRP[g].$NUM_JBF to 1.1 times the current value before reconnecting to the power source.
(3) Check again that the temporary area has at least 3000KB free. If the free temporary area in (1) and (3) is less than 3000KB, consider replacing the CPU card with one having more DRAM. If this alarm persists after performing (1) through (3), repeat (1) through (3).