Hello - According to Richardson (Douglas Richardson, Royal Ancestry, Vol. IV, p. 82.) Richard died in service to the king in Scotland:
"..SIR RICHARD FOLIOT died on the king's service in Scotland shortly before 23 July 1317. His widow, Joan, died before 23 June 1324."
https://our-royal-titled-noble-and-commoner-ancestors.com/p518.htm#...
http://fmg.ac/Projects/MedLands/enguntdk.htm#RichardVIFoliotdied1317
Unfortunately I don't know a primary source, just that Richardson wrote it in Vol IV of Royal Ancestry. Plus, Marilyn Lewis and Charles Crawley.
Mary