| 摘要 |
PURPOSE:To find runaway of a computer by a simple menas of suppress runaway of the control device itself, by detecting runaway of the computer by software and hardware and by cutting off the power source, etc. of the control device by the detection result. CONSTITUTION:A computer 10 is incorporated in a robot to control fetching of data from various organs of the robot and outputting of processing results based on this data. The runaway, check circuit of this computer 10 consists of a comparator 4, a counter 5, and an oscillator 6; and when the computer 10 is operated normally, runaway checking data is transmitted to an address decoder 8 at a constant period. The counter 5 is reset periodically by this checking data, and the pulse output of the oscillator 6 is counted by the counter 5 during the normal operation of the computer 10. At a runaway time, since the output is not generated from the computer, a count number of a prescribed value or more is applied from the counter 5 to the comparator 4, and a relay 1 is driven by the output of the comparator 4, thereby cutting off the power source, etc. of the control device. |
