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公开(公告)号：EP1598155A4
公开(公告)日：2008-09-17
申请号：EP03705178
申请日：2003-02-14
申请人： HONDA MOTOR CO LTD
CPC分类号： B25J9/1674 , G05B2219/34454 , G05B2219/34455 , G05B2219/42268
摘要： An abnormality detector of a moving robot (1) arranged such that self-diagnosis is made in the abnormality detector of the moving robot whether the internal state quantity has an abnormal value or not or whether at least any one, e.g. an inner field sensor, is abnormal or not, abnormality information is delivered when a decision is made that an abnormality has occurred with the date of occurrence being attached thereto and stored in an internal memory (68g) and an external memory (94a). Reliability of abnormality detection of the moving robot can thereby be enhanced and the circumstance leading to abnormality can be grasped accurately because the abnormality information is stored with the date of occurrence being attached thereto. In addition to the date of occurrence, parameters indicative of the state quantity can be attached to the abnormality information being stored in the external memory.
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2.发明公开METHOD FOR JUDGING COMMUNICATION STATE IN A CONTROL SYSTEM OF LINKED JOINTS 有权评估通信状态的方法，在STEUERSYSTM彼此相关接头
公开(公告)号：EP1424171A4
公开(公告)日：2008-09-03
申请号：EP02708701
申请日：2002-03-28
申请人： HONDA MOTOR CO LTD
发明人： AIHARA MASAKI
IPC分类号： B25J5/00 , B25J9/16 , G05B19/4063 , H01H47/00
CPC分类号： B25J9/1674 , G05B19/4063 , G05B2219/24131 , G05B2219/33228
摘要： A method for judging whether the communication state between a main control unit and a sub control unit is normal or abnormal when a noise may be generated from a drive system conductor. The method comprises a power supply step s4, a test communication step (see arrows (3), (4)), and a judgment step s6. In the power supply step s4, power is supplied to a first sub control unit (2a) from a drive system power source (6) while no power is supplied to an actuator (7) from the power source (6). In the test communication step, a test signal is communicated between the main control unit (1) and the sub control unit (2). In the judgment step s6, the communication state is judged to be normal or abnormal in accordance with the communication result of the test signal between the main control unit (1) and the sub control unit (2).
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