Monitoring and control apparatus incorporating run-time fault detection by boundary scan logic testing
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United States of America Patent
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Jun 5, 2001
Grant Date -
N/A
app pub date -
Aug 22, 1997
filing date -
Dec 27, 1995
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
The monitoring control apparatus according to the present invention performs a test on each integrated circuit that supports the boundary scan test method loaded on CPU board 4 and control board 5, and on the connection relationships of these integrated circuits, by a boundary scan controller board 7 like that shown, for example, in FIG. 1. If an abnormality is detected in CPU board 4 or control board 5, an alarm apparatus 9 is activated which emits an alarm. Moreover, if the type of abnormality is such that there is the risk of it having a significant effect on the operation of a robot 3, which is the target of this monitoring and control, from the viewpoint of safety, main power supply apparatus 6 of robot 3 is interrupted to prevent in advance robot 3 from running out of control.
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