[Cause]
Because memory in the image-processing memory area (vision storage area) was insufficient, image processing was performed using memory in the robot-control memory area (temporary storage area). The “** bytes” shown in the alarm indicate the amount of memory borrowed from the temporary storage area.
[Countermeasure]
No emergency measures are required even if this alarm occurs. However, if it occurs frequently, consider the following improvements.
・ Do not open the iRVision teaching interface while the production line is running. Opening the teaching interface uses a substantial amount of memory, so the memory required to run the production line can no longer be ensured.
・In the visual program using multiple cameras or multiple stereosensors, attach camera view [X] designation to the visual detection command, and change the TP program to call the visual detection command for each camera view. The maximum memory usage in instantaneous time is reduced compared to the total camera view at one time.
・ Consider adjusting the parameters of the GPM Locator Tool (pattern matching tool) taught in the vision program. The larger the search ranges for the search window, angle, size, aspect ratio, and so on, the more memory is required. The lower the score threshold, contrast threshold, and similar values, the more memory is required.
・Research changes to the model of GPM Locator Tool (the graphic matching tool) taught in the visual program. The simpler the shape of the model, the harder it is to make a determination as to whether it is the same shape, the more memory is needed. ・Research changes to the model of GPM Locator Tool, which is taught in the visual program. The simpler the shape of the model, the harder it is to make a determination as to whether it is the same shape, the more memory is needed.
・ Consider improving the lighting, background, and other items. The more complex the background and the greater the unevenness in image intensity, the more memory detection requires.
If the condition does not improve after the above countermeasures, record the conditions of occurrence and operating steps, execute the abnormal-condition recording function, obtain an image backup, and contact FANUC.