CN113467856A - Mechanical arm safety controller configuration access method, device, controller and medium - Google Patents
Mechanical arm safety controller configuration access method, device, controller and medium Download PDFInfo
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- CN113467856A CN113467856A CN202110790510.3A CN202110790510A CN113467856A CN 113467856 A CN113467856 A CN 113467856A CN 202110790510 A CN202110790510 A CN 202110790510A CN 113467856 A CN113467856 A CN 113467856A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/445—Program loading or initiating
- G06F9/44505—Configuring for program initiating, e.g. using registry, configuration files
Abstract
The invention relates to a method, a device, a controller and a medium for configuration access of a mechanical arm safety controller, and relates to the technical field of data access. The method comprises the following steps: receiving a configuration data storage request, and extracting configuration data from the configuration data storage request; copying the configuration data into a plurality of data groups, and storing each data group of the configuration data; when a reading request for the configuration data is received, acquiring each data group of the configuration data according to a storage path of each data group of the configuration data, and judging whether each data group of the configuration data is consistent; if so, one of the data sets of the configuration data is sent to the master controller of the robot arm. According to the technical scheme, the data set can be sent to the main controller of the mechanical arm when the data set is not damaged, error data are prevented from being sent to the main controller of the mechanical arm, accuracy and safety of data use are guaranteed, and subsequent services of the mechanical arm can be normally carried out.
Description
Technical Field
The invention relates to the technical field of data access, in particular to a method, a device, a controller and a medium for configuration access of a mechanical arm safety controller.
Background
When the existing safety controller stores data, the received mechanical arm data can be directly stored to a storage position corresponding to a default storage path according to the preset default storage path, and then the received mechanical arm data can be directly read and used without any processing, so that whether the read data has errors or not can not be determined, subsequent business operation is influenced, and if the data is based on the read errors, the mechanical arm control may not be realized.
In addition, because the industrial field environment is relatively complex, the storage of the memory is possibly interfered by corrosive gas, corrosive liquid, electromagnetic interference and other factors, so that the stored data is disordered, and then correct data cannot be read subsequently, and further subsequent business operation is influenced.
Taking joint limit data as an example, assuming that the joint position is required to operate within 150 degrees, an alarm is given if the joint position exceeds the limit. Then 150 degrees is the maximum threshold for operation of the joint. If the data is possibly interfered by electromagnetism, etc., and the data is disordered, the monitoring of the joint limit can be invalid.
Therefore, in the prior art, it cannot be determined whether the read data has errors, and when the read data has errors, subsequent service operations of the mechanical arm are affected.
Disclosure of Invention
The invention provides a method, a device, a controller and a medium for configuration access of a safety controller of a mechanical arm, and aims to solve the problem that the subsequent business operation of the mechanical arm is often influenced by wrong data because whether the data read by the safety controller is wrong or not cannot be determined in the prior art.
In order to solve the technical problems, the invention provides the following technical scheme:
in a first aspect, the present invention provides a robot safety controller configuration access method, applied to a safety controller, the method including:
receiving a configuration data storage request, and extracting configuration data to be stored from the configuration data storage request;
copying the configuration data into a plurality of data groups, storing each data group of the configuration data, and recording the storage path of each data group of the configuration data;
when a reading request for the stored configuration data sent by a main controller of the mechanical arm is received, acquiring each data group of the configuration data according to a storage path of each data group of the configuration data, and judging whether each data group of the configuration data is consistent;
and when the data sets of the configuration data are consistent, sending one data set of the configuration data to a main controller of the mechanical arm.
In a second aspect, the present invention provides an arm safety controller configuration access device comprising means for performing a method according to any of the embodiments of the first aspect.
In a third aspect, the invention provides an air conditioner control device, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor configured to implement the steps of the robot arm safety controller configuration access method according to any of the embodiments of the first aspect when executing the program stored in the memory.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the robot arm safety controller configuration access method according to any of the embodiments of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following advantages:
according to the technical scheme of the embodiment of the invention, the configuration data is copied into a plurality of data groups for storage, and when any data group is damaged, the data groups are different; on the contrary, when the data sets are the same, the data sets are not damaged, so that the technical scheme of the invention can ensure that the data sets are sent to the main controller of the mechanical arm when the data sets are not damaged, thereby avoiding sending error data to the main controller of the mechanical arm, ensuring the accuracy and safety of data use and further ensuring that the subsequent service of the mechanical arm can be normally carried out.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a robot safety controller configuration access method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart illustrating a robot security controller configuration access method according to another embodiment of the present invention;
fig. 3 is a block diagram of a robot security controller configuration access device according to another embodiment of the present invention;
fig. 4 is a block diagram of a robot security controller configuration access device according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a safety controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flowchart of a robot safety controller configuration access method according to an embodiment of the present invention. The method can be applied to a safety controller. In the embodiment of the present invention, data may be exchanged between the safety controller and the user terminal and between the safety controller and the main controller of the robot arm in a wired or wireless manner, which is not limited in particular. As shown in fig. 1, the method comprises the following steps S101-S104.
S101, receiving a configuration data storage request, and extracting configuration data to be stored from the configuration data storage request.
In a specific implementation, the user terminal may be a mobile phone, a computer, a tablet computer, or other terminal devices. The user can input the configuration data in the user terminal and control the user terminal to send a configuration data storage request to the security controller, wherein the configuration data storage request comprises the configuration data. The configuration data may be embodied as configuration data of the robot arm. For example, in one embodiment, the configuration data is a maximum threshold value for the angle of travel of the joints of the robotic arm.
Accordingly, when a configuration data storage request sent by the user terminal is received, the security controller extracts the configuration data to be stored from the configuration data storage request.
S102, copying the configuration data into a plurality of data groups, storing each data group of the configuration data, and recording the storage path of each data group of the configuration data.
In a specific implementation, the configuration data is copied into a plurality of data groups, wherein one data group is the configuration data itself. For example, in one embodiment, the configuration data is copied to obtain 2 data sets, one of which is the configuration data itself, and the other of which can be used as backup data of the configuration data.
And then, storing each data group of the configuration data, and recording the storage path of each data group of the configuration data. For example, storing each data group of the configuration data into a flash memory, and recording a storage path of each data group of the configuration data in the flash memory.
In an embodiment, the above steps store each data set of the configuration data, and specifically include the following steps S210 to S220.
And S210, respectively performing data verification processing on each data group of the configuration data to obtain a reference verification value of each data group of the configuration data.
In a specific implementation, data Check processing, for example, Cyclic Redundancy Check (CRC), is performed on each data group of the configuration data, so as to obtain a reference Check value of each data.
In an embodiment, the configuration data is copied to obtain two data sets, where the two data sets are data a and data B, respectively, a reference check value obtained by performing cyclic redundancy check on the data set a is a1, and a reference check value obtained by performing data check on the data set B is B1.
S220, storing each data group of the configuration data and the reference check value of each data group of the configuration data.
In specific implementation, storing each data group of the configuration data and the reference check value of each data group of the configuration data into a flash memory, and simultaneously recording storage paths of each data group of the configuration data and the reference check value of each data group of the configuration data.
In an embodiment, the above steps of copying the configuration data into a plurality of data sets specifically include the following steps S310 to S320.
S310, detecting the number of the candidate memories, and taking the number of the candidate memories as a target number.
In specific implementation, the number of candidate memories is detected, wherein the candidate memories are memories which are connected with the safety controller and have the remaining storage space larger than a preset threshold. In this embodiment, the robot arm is provided with a plurality of storages, and each storage is located at a different position of the robot arm. And after the number of the candidate memories is obtained, taking the number of the candidate memories as a target number. For example, in the present embodiment, if the number of candidate memories is 2, the target number is 2.
And S320, copying the configuration data into a target number of data groups.
In a specific implementation, the configuration data is copied into a target number of data sets. For example, in one embodiment, if the target number is 2, the configuration data is copied into 2 data groups.
Meanwhile, the above steps store each data group of the configuration data, including: and respectively storing each data group of the configuration data into each candidate memory. That is, one candidate memory stores one data group. So that it is possible to prevent data from being stored in the same memory and from being damaged collectively. Further, when the data set is damaged, the location of the external interference (e.g., electromagnetic interference) may be determined according to the location of the memory.
Further, data Check processing, for example, Cyclic Redundancy Check (CRC), is performed on each data group of the configuration data, so as to obtain a reference Check value of each data. And correspondingly storing the reference check value of each datum into each candidate memory.
S103, when a reading request for the stored configuration data sent by the main controller of the mechanical arm is received, acquiring each data set of the configuration data according to the storage path of each data set of the configuration data, and judging whether each data set of the configuration data is consistent.
In a specific implementation, when a reading request for the stored configuration data sent by a main controller of the robot arm is received, first, each data set of the configuration data is acquired according to a storage path of each data set of the configuration data, and then, whether each data set of the configuration data is consistent or not is judged.
For example, in an embodiment, the configuration data includes two data sets, which are respectively a data set a and a data set B, and it is determined whether the data set a and the data set B are the same.
In an embodiment, the above steps determine whether each data group of the configuration data is consistent, and specifically include the following steps:
and S410, respectively carrying out data verification processing on each data group of the configuration data to obtain to-be-detected verification values of each data group of the configuration data.
In specific implementation, data Check processing is performed on each data group of the configuration data, for example, Cyclic Redundancy Check (CRC) is performed, so as to obtain a to-be-detected Check value of each data group of the configuration data.
For example, in this embodiment, the configuration data includes two data sets, which are a data set a and a data set B, respectively, a to-be-tested verification value obtained by performing cyclic redundancy check on the data set a is a2, and a to-be-tested verification value obtained by performing data verification on the data set B is B2.
And S420, respectively judging whether the to-be-detected check value and the reference check value of each data group of the configuration data are the same.
In specific implementation, whether the to-be-detected check value and the reference check value of each data group of the configuration data are the same or not is respectively judged. When the to-be-detected check value of the data group is the same as the reference check value, the data is not damaged; otherwise, when the to-be-detected check value of the data group is different from the reference check value, the data is damaged.
For example, in this embodiment, the reference verification value of the data group a is a1, and the verification value to be tested is a 2; the reference check value of the data group B is B1, and the check value to be detected is B2; respectively judging whether A1 is the same as A2; b1 is the same as B2.
And S430, when the to-be-detected check value and the reference check value of each data group of the configuration data are the same, judging whether the bytes of each data group of the configuration data are the same.
For example, in the present embodiment, when a1 is the same as a2 and B1 is the same as B2, it is further determined whether the bytes of each data group of the configuration data are the same.
S440, when the bytes of each data group of the configuration data are the same, judging that each data group of the configuration data is consistent.
S450, when the bytes of the data groups of the configuration data are different, judging that the data groups of the configuration data are not consistent.
And S460, when the to-be-detected check value and the reference check value of one or more data groups of the configuration data are different, judging that the data groups of the configuration data are inconsistent.
In specific implementation, when the to-be-tested check value and the reference check value of any one data group of the configuration data are different, it is determined that the data groups of the configuration data are not consistent.
For example, in this embodiment, when a1 is different from a2, B1 is different from B2, or a1 is different from a2, and B1 is different from B2, it is determined that the data sets of the configuration data are not consistent.
And S104, when all data sets of the configuration data are consistent, sending one data set of the configuration data to a main controller of the mechanical arm.
In specific implementation, if each data group of the configuration data is consistent, it indicates that each data of the configuration data is not damaged; thus, one of the data sets of the configuration data is sent to the master controller of the robot arm.
According to the technical scheme of the embodiment of the invention, the configuration data is copied into a plurality of data groups for storage, and when any data group is damaged, the data groups are different; on the contrary, when the data sets are the same, the data sets are not damaged, so that the technical scheme of the invention can ensure that the data sets are sent to the main controller of the mechanical arm when the data sets are not damaged, thereby avoiding sending error data to the main controller of the mechanical arm, ensuring the accuracy and safety of data use and further ensuring that the subsequent service of the mechanical arm can be normally carried out.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a robot security controller configuration access method according to another embodiment of the present invention. The method can be applied to a safety controller. As shown in fig. 2, the method comprises the following steps S201-S206.
S201, receiving a configuration data storage request, and extracting configuration data to be stored from the configuration data storage request.
In a specific implementation, the user terminal may be a mobile phone, a computer, a tablet computer, or other terminal devices. The user can input the configuration data which is desired to be stored in the user terminal, and control the user terminal to send a configuration data storage request to the security controller, wherein the configuration data storage request comprises the configuration data. The configuration data may be specific to configuration data for a robotic arm.
Accordingly, when a configuration data storage request sent by the user terminal is received, the security controller extracts the configuration data to be stored from the configuration data storage request.
It should be noted that the configuration data may be specific to configuration data input by a user for the robot arm.
S202, sending the configuration data to a user terminal so that the user terminal displays the configuration data to a user and prompts the user to check the configuration data.
In a specific implementation, the configuration data is sent to a user terminal. Correspondingly, when receiving the configuration data returned by the security controller, the user terminal displays the configuration data to the user and prompts the user to check the configuration data. For example, a popup message "please check whether the data is accurate" is issued.
Meanwhile, after receiving a check error-free instruction input by a user, the user terminal sends a confirmation message to the security controller.
S203, when receiving a confirmation message sent by a user terminal, copying the configuration data into a plurality of data groups, storing each data group of the configuration data, and recording the storage path of each data group of the configuration data; and the confirmation message is sent by the user terminal after receiving a check error-free instruction of the user on the configuration data.
In the specific implementation, when the confirmation message sent by the user terminal is received, it indicates that the configuration data checked by the user is accurate. At this time, the security controller copies the configuration data into a plurality of data sets, one of which is the configuration data itself. For example, in one embodiment, the configuration data is copied to obtain 2 data sets, one of which is the configuration data itself, and the other of which can be used as backup data of the configuration data.
And then, storing each data group of the configuration data, and recording the storage path of each data group of the configuration data. For example, storing each data group of the configuration data into a flash memory, and recording a storage path of each data group of the configuration data in the flash memory.
S204, when a reading request for the stored configuration data sent by the main controller of the mechanical arm is received, acquiring each data group of the configuration data according to the storage path of each data group of the configuration data, and judging whether each data group of the configuration data is consistent.
And S205, when all data sets of the configuration data are consistent, sending one data set of the configuration data to a main controller of the mechanical arm.
S206, when the data groups of the configuration data are not consistent, sending abnormal alarm information to the user terminal.
In specific implementation, when the data groups of the configuration data are not consistent, sending an abnormal alarm message to a user terminal to prompt a user that the configuration data is abnormal. For example, in one embodiment, the abnormal warning message is "data storage error, please check".
As shown in fig. 3, an embodiment of the invention provides a schematic structural diagram of a robot security controller configuration access device 70. Corresponding to the above method for accessing the configuration of the safety controller of the robot arm, the invention also provides a device 70 for accessing the configuration of the safety controller of the robot arm. The robot safety controller configuration access device 70 includes a unit for executing the robot safety controller configuration access method described above, and the robot safety controller configuration access device 70 may be configured in a safety controller. Specifically, the robot arm safety controller configuration accessing device 70 includes an extracting unit 71, a copying unit 72, a judging unit 73, and a first transmitting unit 74.
The extracting unit 71 is configured to receive a configuration data storage request, and extract configuration data to be stored from the configuration data storage request.
A copying unit 72, configured to copy the configuration data into a plurality of data groups, store each data group of the configuration data, and record a storage path of each data group of the configuration data;
a determining unit 73, configured to, when a read request for the stored configuration data sent by a main controller of the robot arm is received, obtain each data set of the configuration data according to a storage path of each data set of the configuration data, and determine whether each data set of the configuration data is consistent;
a first sending unit 74, configured to send one of the data sets of the configuration data to the main controller of the robot arm when the data sets of the configuration data are consistent.
In an embodiment, the determining whether the data groups of the configuration data are consistent includes:
judging whether the bytes of each data group of the configuration data are the same or not;
when the bytes of each data group of the configuration data are the same, judging that each data group of the configuration data is consistent;
and when the bytes of each data group of the configuration data are different, judging that each data group of the configuration data is inconsistent.
In an embodiment, the storing each data group of the configuration data includes:
respectively carrying out data verification processing on each data group of the configuration data to obtain a reference verification value of each data group of the configuration data;
and storing each data group of the configuration data and the reference check value of each data group of the configuration data.
In an embodiment, the determining whether each data group of the configuration data is consistent further includes:
respectively carrying out data verification processing on each data group of the configuration data to obtain a to-be-detected verification value of each data group of the configuration data;
respectively judging whether the to-be-detected check value and the reference check value of each data group of the configuration data are the same;
when the to-be-detected check value and the reference check value of each data group of the configuration data are the same, executing the step of judging whether the bytes of each data group of the configuration data are the same;
when the to-be-detected check value and the reference check value of one or more data groups of the configuration data are different, judging that the data groups of the configuration data are inconsistent;
in one embodiment, the copying the configuration data into a plurality of data groups includes:
detecting the number of candidate memories, and taking the number of the candidate memories as a target number;
copying the configuration data into a target number of data groups;
each data group storing the configuration data includes:
and respectively storing each data group of the configuration data into each candidate memory.
As shown in fig. 4, in another embodiment of the present invention, the robot arm safety controller configuration accessing device 70 includes an extracting unit 71, a second sending unit 75, a copying unit 72, a judging unit 73, a first sending unit 74, and a third sending unit 76.
The extracting unit 71 is configured to receive a configuration data storage request, and extract configuration data to be stored from the configuration data storage request.
A second sending unit 75, configured to send the configuration data to the user terminal, so that the user terminal presents the configuration data to the user, and prompts the user to check the configuration data.
The copying unit 72 is configured to, when receiving a confirmation message sent by a user terminal, copy the configuration data into a plurality of data groups, store each data group of the configuration data, and record a storage path of each data group of the configuration data, where the confirmation message is sent by the user terminal after receiving a check error-free instruction of the user for the configuration data.
The determining unit 73 is configured to, when receiving a read request for the stored configuration data sent by a main controller of the robot arm, acquire each data set of the configuration data according to a storage path of each data set of the configuration data, and determine whether each data set of the configuration data is consistent.
A first sending unit 74, configured to send one of the data sets of the configuration data to the main controller of the robot arm when the data sets of the configuration data are consistent.
And a third sending unit 76, configured to send an abnormal warning message to the user terminal when the data sets of the configuration data are inconsistent.
As shown in fig. 5, an embodiment of the present invention provides a security controller, which includes a processor 111, a communication interface 112, a memory 113, and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 complete mutual communication via the communication bus 114,
a memory 113 for storing a computer program;
in an embodiment of the present invention, the processor 111, when executing the program stored in the memory 113, is configured to implement the robot arm safety controller configuration access method provided in any one of the foregoing method embodiments, including:
embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the robot arm safety controller configuration access method provided in any one of the foregoing method embodiments.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The configuration access method of the mechanical arm safety controller is applied to the safety controller, and comprises the following steps:
receiving a configuration data storage request, and extracting configuration data to be stored from the configuration data storage request;
copying the configuration data into a plurality of data groups, storing each data group of the configuration data, and recording the storage path of each data group of the configuration data;
when a reading request for the stored configuration data sent by a main controller of the mechanical arm is received, acquiring each data group of the configuration data according to a storage path of each data group of the configuration data, and judging whether each data group of the configuration data is consistent;
and when the data sets of the configuration data are consistent, sending one data set of the configuration data to a main controller of the mechanical arm.
2. The method of claim 1, wherein the determining whether the data sets of the configuration data are consistent comprises:
judging whether the bytes of each data group of the configuration data are the same or not;
when the bytes of each data group of the configuration data are the same, judging that each data group of the configuration data is consistent;
and when the bytes of each data group of the configuration data are different, judging that each data group of the configuration data is inconsistent.
3. The robot arm safety controller configuration access method of claim 2, wherein the storing of the respective data sets of the configuration data comprises:
respectively carrying out data verification processing on each data group of the configuration data to obtain a reference verification value of each data group of the configuration data;
and storing each data group of the configuration data and the reference check value of each data group of the configuration data.
4. The method of claim 3, wherein the determining whether the data sets of the configuration data are consistent further comprises:
respectively carrying out data verification processing on each data group of the configuration data to obtain a to-be-detected verification value of each data group of the configuration data;
respectively judging whether the to-be-detected check value and the reference check value of each data group of the configuration data are the same;
when the to-be-detected check value and the reference check value of each data group of the configuration data are the same, executing the step of judging whether the bytes of each data group of the configuration data are the same;
and when the to-be-detected check value and the reference check value of one or more data groups of the configuration data are different, judging that the data groups of the configuration data are inconsistent.
5. The robot arm safety controller configuration access method of any of claims 1-4, further comprising:
and when the data groups of the configuration data are inconsistent, sending abnormal alarm information to the user terminal.
6. The method of accessing a robot arm safety controller configuration of claim 1, wherein prior to said replicating the configuration data into a plurality of data sets, the method further comprises:
sending the configuration data to a user terminal so that the user terminal displays the configuration data to a user and prompts the user to check the configuration data;
when receiving a confirmation message sent by a user terminal, the step of copying the configuration data into a plurality of data groups, storing each data group of the configuration data, and recording the storage path of each data group of the configuration data is executed, wherein the confirmation message is sent after the user terminal receives a check error-free instruction of the user on the configuration data.
7. The method of accessing a robot arm safety controller configuration of claim 1, wherein the replicating the configuration data into a plurality of data sets comprises:
detecting the number of candidate memories, and taking the number of the candidate memories as a target number;
copying the configuration data into a target number of data groups;
each data group storing the configuration data includes:
and respectively storing each data group of the configuration data into each candidate memory.
8. An arm safety controller configuration access device comprising means for performing the method of any of claims 1-7.
9. The safety controller is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of the robot arm safety controller configuration access method of any of claims 1-7 when executing the program stored in the memory.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the robot arm safety controller configuration access method according to any of claims 1-7.
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