JPH0261702A - System code correcting system for robot controller - Google Patents

Abstract

PURPOSE:To simplify recovery from trouble by correcting a system code without replacing a ROM where the system code is stored and controlling a robot controller with this code. CONSTITUTION:A robot controller 10 is provided with a central processing unit (CPU) 11 and a ROM 13, a RAM 14, a non-volatile memory 15, an operation board 16, a disk controller 17, and an interpolator which are connected to the CPU 11 by a bus 20 and is provided with an interface 20 and a shaft controller 18 which controls each shaft of a robot. When it is necessary to correct the system code for the controller 10, code correction data is generated and is stored in a memory like a floppy disk and is sent to a user and is stored in the non-volatile memory 15, and the system code in the RAM 14 is corrected. As the result, the code is corrected to a new code and the robot controller 10 is driven with this code.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a system code modification method in a robot control device.

Conventional technology A control program for controlling the robot control device itself, that is, a system code, is stored in a ROM within the control device, and the robot control device is controlled based on the system code stored in the ROM, or When the power is turned on, the system code stored in the ROM is loaded into the RAM, and thereafter the robot control device is controlled based on the system code stored in the RAM.

Problem to be Solved by the Invention When there is some kind of fault in the ROM in which the system code is stored and the system code needs to be corrected, conventionally, the faulty ROM is replaced with the corrected system code. The only option was to replace it with ROM.

With this method, each time a failure occurs in the ROM, the R
It is necessary to replace the OM, which requires time and effort, and also results in unnecessary ROM usage.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a system code modification method that can modify the system code without requiring ROM replacement.

Means for Solving the Problems The present invention provides a system code modification method for a robot control device that loads a system code stored in a ROM into a RAM when the power is turned on, and then operates according to the system code loaded into the RAM. , store the system code correction data in memory and send it to RO.
After loading the system code from M into RAM,
The above problem was solved by correcting the system code in the RAM using the above correction data.

Operational robot control [Software failure in IB location, i.e.
When the system code needs to be modified,
~ The manufacturer of the control device creates system code correction data, stores it in the memory of a floppy disk, and sends it to the user, who then stores this correction data in the memory of the robot control device, such as non-volatile memory. After loading the system code that requires modification from the ROM to the RAM, the system code in the RAM is modified using the modification data stored in the memory.

As a result, the system code in the RAM becomes a new modified system code, and the robot controller is driven by the modified system code loaded in this RAM. The control device will perform the desired normal operation.

Embodiment FIG. 2 is a block diagram of main parts of a robot control device. The robot control device 10 includes a central processing unit (hereinafter referred to as CPU) 11, and a boot ROM 12. ROM13 in which system code is stored.
RAM14. Non-volatile memory such as bubble memory or power backed CMOS memory 15. Operation panel 16
．． An axis controller 18, which includes a disk controller 77 and an auxiliary device 11, and controls each axis of the robot. It has an interface 2o.

The axis controller 18 is connected to a servo motor that drives each wheel of the robot body via a servo circuit 19 for each axis.

Further, the interface 20 is connected to various sensors and actuators of the robot's work target and the like.

When the robot control device 10 is powered on, the boot ROM 12 reads a program for loading the system code stored in the ROM 13 into the RAM 14 and system code correction data stored in the non-volatile memory 15. A program for modifying the system code loaded in the internal memory is further loaded into the non-volatile memory 15 via a disk controller 17 from a floppy disk in an external memory.
It has a program to load within.

Therefore, when the power is turned on to the robot control device 10, the ROM 13 is first programmed based on the program shown in the flowchart of FIG.
The system code is loaded into the RAM 14 (step S1).

When this loading is completed, it is determined whether the system code correction flag in the non-volatile memory 15 is turned on (step S2), and if it is not turned on, the correction data read command is input from the operation panel 16 (step S2). Stella 783), step S4 where another command is input
), and if another command has been input, it is assumed that there is no modification of the system code, and the process moves on to other processing. Also,
When the corrected data reading command is input, step S3)
, the modified data is read from the floppy disk via the disk controller 17 and loaded into the nonvolatile memory 15 (step 85).

This correction data consists of the address of the system code to be corrected and the data that is the content of the correction. After the modified data is loaded into the non-volatile memory 15 in this way, the system code modification flag is turned on (step S6), and then the RA of the modified address position is set according to the modified data loaded into the non-volatile memory 15.
Data modification processing is performed to rewrite the system code in M12 with modified data (step 87). When the system code in the RAM 14 is corrected and another command is input, in step S8), the CPU 11 performs other processing based on the corrected system code in the RAM 14.
The robot control device will be controlled by the system code loaded into AM14.

In this way, after the system code correction data is loaded into the non-volatile memory 15 and the system code correction flag is turned on, the power is turned off and then the power is turned on again to the robot control device 1.0. and ROM13
After loading the system code into the RAM 14 (step 81), it is detected in step S2 that the system code correction flag is turned on, so the process moves to step S7, and the system code data in the RAM 14 is corrected. From now on, the robot control device 10 will be controlled by this modified system code.

As described above, in the present invention, the system code is modified without replacing the ROM 13 in which the system code is stored, and the robot control device 10 is controlled by the modified system code. If a failure occurs in the robot control device 10, the manufacturer of the robot control device 10 analyzes the failure, stores the address for modifying the system code and its modification data on a floppy disk, and the user only needs to send that floppy disk. All you have to do is modify the system code using a floppy disk, making disaster recovery easy.

Effects of the Invention The present invention allows the system code to be modified without replacing the ROM in which the system code is stored.
It is possible to prevent the trouble of OM replacement and wasteful consumption of ROM.

In particular, if there are five robot control devices that use the same system code, and the system code needs to be modified, it is only necessary to create correction data, and it is not necessary to replace the ROM of each robot control device. Because there is no system code, modifications to the system code can be done easily and quickly.

[Brief explanation of the drawing]

FIG. 1 is an operational processing flowchart of an embodiment of the present invention;
FIG. 2 is a block diagram of main parts of a robot control device implementing the same embodiment. DESCRIPTION OF SYMBOLS 10... Robot control device, 11... Central processing unit (CPU), 12... Boot ROM, 13-ROM in which system code is stored, 14... RAM in which system code is loaded, 15 ...Non-volatile memory into which modified data is loaded. 1st mouth

Claims (1)

[Claims] The system code stored in ROM is transferred to RA when the power is turned on.
In the system code modification method for a robot control device that operates based on the system code loaded into the RAM and then loaded into the RAM, system code modification data is stored in the memory, and the system code is loaded from the ROM into the RAM. A system code correction method in a robot control device, in which the system code in the RAM is then corrected using the above correction data.