ROBOT CONTROL METHOD AFTER INTERRUPTION OF SERVICE

摘要

A method of controlling a robot in which power is resupplied and the operation of the robot is restarted after the service interruption of the robot is recovered. A service interruption sensing circuit informs the OS of the fact that the voltage drops or goes out (S1). The OS writes a service interruption flag in a nonvolatile memory and stops a task being executed (S2). The data of the task is saved in the nonvolatile memory. After making the power supply (S10), the service interruption processing of the OS is executed (S11), referring to the service interruption flag and the hardware is initialized (S12). Then, the OS executes the routine of the service interruption processings of every task (S13) and restarts the operation (S14) from the position where the robot stops upon the service interruption.