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Robot controller CPU crash detection and emergency treatment method

A technology of crash detection and emergency treatment, applied in computer control, program control, general control system, etc., can solve potential safety hazards, failure to find and solve problems in time, loss and other problems, and achieve clear and intuitive principles and simple and reliable detection circuits Effect

Inactive Publication Date: 2007-03-07
YUNNAN KUNMING SHIPBUILDING DESIGN & RESEARCH INSTITUTE
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Problems solved by technology

[0002] The robot controller CPU is the core of the robot control system. Its control scope includes the movement of each axis of the robot, real-time state detection and fault handling. If the CPU crashes and cannot control the robot, it may cause serious safety hazards and immeasurable losses
At present, there is no special detection method and special emergency treatment method for the crash of the robot controller CPU. It can only be detected indirectly when other control failures occur, and the problem is often not found and solved in time, resulting in serious consequences.

Method used

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  • Robot controller CPU crash detection and emergency treatment method
  • Robot controller CPU crash detection and emergency treatment method

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[0013] The technical core of the detection method of the present invention is that when the robot controller CPU A1 is running, the frequency signal is continuously sent out, and the frequency signal is converted and amplified by frequency and voltage to generate an output and drive the relay to act. Figure 1 is a specific schematic diagram, and its working principle is as follows: the robot controller CPUA1 always sends out a frequency signal S1 during operation, and S1 is connected to a frequency-voltage converter U1, and after frequency-voltage conversion, the frequency signal is converted into a voltage signal S2 , and then the voltage signal S2 is amplified by the amplifier A2 to the voltage S3 available to the general relay, and the relay K1 is driven so that K1 can output a signal indicating that the controller is operating normally. When the robot controller CPUA1 crashes, it will stop sending the frequency signal S1, and the frequency-voltage converter U1 cannot genera...

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Abstract

This invention relates to robot controller CPU fault test and emergency process method, which converts the frequency signals of normal work into voltage signals through frequency transducer and enlarges the voltage signals through amplifier and the drive relay outputs indication device normal signals; when in fault, relay not outputting and indicating fault. The emergency process method is to use relay output signal to control robot output drive axis and to monitor robot work status to indicate controller CPU abnormal.

Description

technical field [0001] The invention relates to a method for detecting the CPU crash of a robot controller and a method for emergency treatment using the detection method. Background technique [0002] The robot controller CPU is the core of the robot control system. Its control scope includes the movement of each axis of the robot, real-time state detection and fault handling. If the CPU crashes and cannot control the robot, it may cause serious safety hazards and immeasurable losses. At present, there is no special detection method and special emergency treatment method for the crash of the robot controller CPU. It can only be detected indirectly when other control failures occur, and the problem is often not found and solved in time, resulting in serious consequences. Contents of the invention [0003] The purpose of the present invention is to provide a kind of can detect robot controller CPU operation state in order to solve above-mentioned deficiency existing in the...

Claims

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Application Information

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IPC IPC(8): G05B19/048
Inventor 游玲蔡磊杨灏泉苑韬陈黎李娟
Owner YUNNAN KUNMING SHIPBUILDING DESIGN & RESEARCH INSTITUTE
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