JPS6068406A - Fault diagnosis device of industrial robot - Google Patents

Abstract

PURPOSE:To facilitate an eacy analysis of such a fault that has a low frequency of generation with difficult investigation into the factor of said fault, by connecting a system program and a fault diagnosis program for diagnosis of fault. CONSTITUTION:An ROM12 storing a system program is connected to a CPU11 together with an RAM13 which stores auxiliarily a fault diagnosis program. In addition, an RAM14 which stores the read data for control of a robot, the arithmetic results, action commands, etc. is connected to the CPU11 via a bus line. Both RAMs 13 and 14 store temporarily the data needed for system actuation. While interfaces 15 and 16 are connected to the CPU11 via a bus line. The signals are supplied to the interface 15 from a memory medium 17 consisting of a main or auxiliary memory. The medium 17 stores a fault diagnosis program, and a terminal device 18 is connected to the interface 16. Thus it is possible to attain the diagnosis with such a trouble that has a low frequency of generation.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention particularly relates to a failure diagnosis device for an industrial robot equipped with an electronic computer.

For example, the operation is controlled according to a system program stored in a ROM in an industrial logo computer used for a maid.

In order to perform fault diagnosis for maintenance of a computer equipped with such a computer, for example, it is necessary to perform fault diagnosis on specific items incorporated in the system program when the power is turned on. It is being

In addition, if necessary, it is also possible to carry out complete diagnosis through patch processing (using a separately prepared failure diagnosis program).

However, although such fault diagnosis means are effective in detecting complete failures, they are rarely able to perform failure analysis on troubles that occur infrequently.

Another method is to incorporate a fault diagnosis program 2m into the system program and simultaneously perform fault diagnosis while creating the system program 'f:MJ.

This approach requires changing the system's system glomodules for infrequently occurring troubles. In particular, at the stage of trying to find out the cause of a system trouble through trial and error, system programs must be changed frequently, which is inefficient.

This invention was made by VC in order to solve the above-mentioned problems, and includes a ROM that stores all the system programs for controlling the robot, and a calculation operation that corresponds to the program ID 74 in this ROM. A CPU that generates operation commands to the robot, a storage medium that stores a fault diagnosis program coupled to this CPU, and a fault diagnosis program that is read and loaded from the above-mentioned medium according to program commands from the ROM. RAM
By combining the above-mentioned system program and a fault diagnosis program to perform fault diagnosis, it is possible to solve cases where the number of dead bodies is small and it is not easy to investigate the cause.
An object of the present invention is to provide a failure diagnosis device for an unused robot that is capable of facilitating failure analysis.

An example of a real axis of the present invention will be explained below with reference to the drawings. The attached drawing shows the outline, and the CPU l l includes:
A ROM l2 storing a system program for controlling this system is connected. Also, C
The PU J 1 is connected to an RAIvi 73 which stores a fault diagnosis program which will be described later, and is further connected to a RAM which stores read data, calculation results, operation commands, etc. for robot control operations via a pass line. l
4 are combined. This RAM I J and J4f
The RAMs J3 and J4 may be used for 11 days as they are areas for temporarily storing essential data when this system is operating. Also, upper B, 2 cP;
7' is connected to interfaces 15 and 16 via path lines, and signals from a storage medium 17 consisting of a main or auxiliary storage device are input to the interface 15. This storage medium 7 is a cassette chip, floppy disk, bubble memory, etc.
A fault diagnosis program is stored in 7. Further, a terminal device 18 is connected to the other ink face 16. This terminal device J8 is for displaying failure analysis data and diagnosis results, and is a device such as a distro device, a glintter, or the like.

A fault diagnosis noogram is created in accordance with the troubleshooting regardless of this system, and is stored in the storage medium 17. The fault diagnosis program from the storage medium 17 is loaded into the RAM i 3 through the interface 15 in response to a program command from the ROM J 2.

The fault diagnosis program loaded into RAM l3 is
When loading is completed, it is combined with the system program stored in ROM J2. That is, it is handled as one of the tasks of one system program and placed under the control of the system monitor. A fault diagnostic nologram placed under the control of the monitor operates in real time in conjunction with other tasks of the system and initiates the fault diagnostic equipment.

Fault Diagnosis 4 ■ The task level of the program cannot be defined twice as the task within the system program in the case of a failure. It is safe to create a program for loading the fault diagnosis program and a program for integrating the fault diagnosis program and the system program as part of the system program.

The results of the failure diagnosis are displayed on a display device (not shown) in the system. It is possible to write/write to the medium 17 or output to the terminal device 18. By creating a processing program for these results in the storage medium 17 as part of the fault diagnosis program and loading it into the RAM J 3, it becomes possible to configure the system without placing any burden on the system program.

This fault diagnosis device is also capable of loading a mantissa fault diagnosis program as an a-ridge task and diagnosing it at the same time. Furthermore, once loaded, the ``Kaiken-ken'' program remains valid until the system's main power source is shut off or the failure diagnosis program is loaded into the system.

With this fault diagnosis device, it is possible to create a faulty PCL diagnostic program in the storage medium 17 and perform diagnosis according to the content of the trouble without changing the system program.

Therefore, by changing the contents of the failure diagnosis noogram in accordance with the diagnosis results, it is possible to efficiently investigate the cause of the trouble.

Further, since the fault diagnosis program loaded into the RAMJ3 operates under the control of the monitor like the system tasks, diagnosis can be performed in real time while the system is operating normally.

Furthermore, the task level fJt of the fault diagnosis program
Depending on JF=, it is also possible to perform diagnostics without affecting the operation of the system.

Ashita, the fault diagnosis program is the system program and RO.
In cases where it is no longer needed because it is not combined on M,
The system program stored in the ROM can be removed without changing it.

RO that stores the system program to control the
M, and a CP that performs arithmetic operations in accordance with the program stored in this ROM K and generates operation commands for the robot.
a storage medium storing a fault diagnosis program coupled to the CPU of the ROM, and a RAM into which the fault diagnosis program is read and loaded from the storage medium in response to a program command from the ROM; We have created a fault diagnosis system for industrial robots that can facilitate failure analysis for troubles that occur infrequently and whose causes are difficult to investigate by performing fault diagnosis by combining them with a fault diagnosis program. can be provided.

[Brief explanation of the drawing]

The attached drawing shows an engineered chestnut machine according to an embodiment of the present invention. 1 is a diagram illustrating an overview of a fault diagnosis device for the 11... CPU, 12... ROM, ノ3, 14...
...1(,)-''v1.15.16...Interface, 17...Storage medium, 18...Terminal device.

Claims (1)

[Claims] A ROM that stores a system program for controlling the robot, and a CPU that calculates fT and issues operation commands to the robot in accordance with the program stored in the ROM. a storage medium storing a fault diagnosis program combined with the RAM; and a RAM into which the fault diagnosis program is read and loaded from the storage medium according to a program command from the ROM;
A fault diagnosis means for an industrial robot, characterized in that a fault diagnosis is executed by combining the system program 2 and a fault diagnosis program.