MONITORING CONTROL APPARATUS

摘要

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.