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Error Recovery From Manipulator Power Down

IP.com Disclosure Number: IPCOM000040081D
Original Publication Date: 1987-Sep-01
Included in the Prior Art Database: 2005-Feb-01
Document File: 2 page(s) / 35K

Publishing Venue

IBM

Related People

Bardo, GB: AUTHOR [+3]

Abstract

Robotic systems that are enclosed by safety barriers have circuit interlocks to shut down power when the safety barrier is entered. When the circuit interlock is restored, the need for an error recovery to restart the system program in the correct sequence is needed. An error recovery program to accomplish this is detailed in the following. A restart sequence is initiated at a PC control station. The sequence consists of turning on manipulator power, select auto mode, select application, recall memory, select start cycle, and then run cycle. When the robot controller receives the run instruction, it breaks out of loop to redo condition. As seen in the flowchart, a digital input sensor for a particular operation determines that an error condition exists. A retry is initiated three times to confirm the error.

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Error Recovery From Manipulator Power Down

Robotic systems that are enclosed by safety barriers have circuit interlocks to shut down power when the safety barrier is entered. When the circuit interlock is restored, the need for an error recovery to restart the system program in the correct sequence is needed. An error recovery program to accomplish this is detailed in the following. A restart sequence is initiated at a PC control station. The sequence consists of turning on manipulator power, select auto mode, select application, recall memory, select start cycle, and then run cycle. When the robot controller receives the run instruction, it breaks out of loop to redo condition. As seen in the flowchart, a digital input sensor for a particular operation determines that an error condition exists. A retry is initiated three times to confirm the error. The controller then turns on error digital output to the PC control station. The controller then loops until the control station turns off or drops the run. The run on loop includes a breakpoint. The control station sends stop and memory instructions to the controller. When the controller encounters breakpoint with stop and memory, the controller sets the memory and the system stops.

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