JP3041340B2 - Monitoring and control equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring control device for monitoring and controlling a robot or the like, and more particularly to a monitoring control device for monitoring the operating state of a board supporting a boundary scan test method using a boundary scan controller board.
The present invention relates to a monitoring control device that performs monitoring control of a robot or the like that is a monitoring control target.

[0002]

2. Description of the Related Art In a monitoring and control apparatus for monitoring and controlling a robot or the like, if a CPU board or various control boards provided in the monitoring and control apparatus fails for some reason,
Because the robot runs away or stops its operation, when manufacturing a CPU board or various control boards, the quality of the board is determined by a method such as an in-circuit test method. When monitoring and controlling the robot by assembling the
The quality of various control boards is periodically checked by a board or the like so that troubles due to hardware failure do not occur.

[0003]

By the way, as a test method for inspecting the quality of each board constituting the monitoring and control device, a needle mountain such as "Kenyama" used for ikebana etc. is currently provided on the pattern surface of the board. The in-circuit test method of testing the state of a printed pattern constituting each substrate by pressing against each other is mainly used. However, the I
Despite the increase in the number of pins due to the high integration of C, the demand for high-density mounting has led to the miniaturization of packages, and the test pins used in the in-circuit test method as shown in FIG. 101 diameter (for example, 0.8 m
m), the pin interval (for example, 0.66 mm) of the IC 103 mounted on the substrate 102 is narrower, and the number of the substrates 102 that cannot be practically tested by the in-circuit test method is increasing. Also, when assembling the CPU board and various control boards to monitor and control the robot, the CP
Because the robot is monitored and controlled while checking the quality of various control boards with the U board, etc.
Part of the performance of the PU substrate is sacrificed,
When any abnormality occurs in the CPU board or the like, there is a problem that the robot runs away. Therefore, as a method for solving such a problem, a monitoring-dedicated board independent of the CPU board is provided.
A method of monitoring the operating state of a U-board or various control boards has also been proposed. However, in a test method using such a monitoring-dedicated board, unless the operation timing of the monitoring-dedicated board is set accurately, Monitoring operation of the CPU board and various control boards interfere with each other, and the monitoring control operation of the robot by the CPU board and various control boards may be stopped.

SUMMARY OF THE INVENTION In view of the above circumstances, the present invention is directed to claim 1 in which the CPU board and various control boards are operated while the CPU board and various control boards are operated even when the CPU board and various control boards are installed. It is an object of the present invention to provide a monitoring and control device capable of checking an operation state of the device and the like and determining the quality of the operation. Further, according to the second aspect, even if the CPU board or the like of the monitoring control device fails,
It is an object of the present invention to provide a monitoring control device that can prevent a robot or the like controlled by the monitoring control device from running away. In claim 3,
Even if one of the CPU boards or various control boards fails, it is possible to test whether the remaining boards are normal, and even if multiple boards fail at the same time, this can be detected and the abnormal part can be detected. It is an object of the present invention to provide a monitoring control device capable of making a determination. In claim 4, the CP
Even if a boundary scan controller board is set for the U board or the control board, the priority (priority) of the boundary scan controller board is switched so that when the boundary scan test by the boundary scan controller board is not necessary, It is an object to provide a monitoring control device that can be turned off.

[0005]

To achieve the above object, according to the present invention, there is provided a monitoring control apparatus for performing monitoring control of a monitoring control object using a CPU board and various boards. A board on which components supporting the boundary scan test method are mounted, and a board electrically connected to these boards, and a boundary scan test is performed to test each board or each component mounted on each board. And a boundary scan controller board. According to a second aspect of the present invention, in the monitoring control device according to the first aspect, the boundary scan controller board uses a power supply independent of a power supply of each of the boards, and an abnormality occurs in the power supply of each of the boards. Also, a boundary scan test of each board is performed by the boundary scan controller board to test each board or each component mounted on each board. According to a third aspect of the present invention, in the monitoring control apparatus according to the first or second aspect, the boundary scan controller board is connected to each board by a dedicated line provided for each board, and each board is individually connected. And a boundary scan test. In claim 4, claims 1, 2, 3
Wherein the boundary scan controller board controls the execution and stop of the boundary scan test by the boundary scan controller board based on the operation of an enable / disable switch. I have.

According to the first aspect of the present invention, the CPU
In a monitoring control device that performs monitoring control of a monitoring control object using a board and various boards, a board on which components supporting the boundary scan test method are mounted and a boundary scan controller board are electrically connected. ,
The boundary scan controller board performs a boundary scan test on the board to test the board or each component mounted on the board, so that the CPU board and various control boards can be used. While operating the CPU board and various control boards, the operating states of the CPU board and the various control boards are checked to determine the quality of the operation. Claim 2
In the monitoring control apparatus according to claim 1, the power supply device of the boundary scan controller substrate and the power supply device of the substrate are made independent, and even if an abnormality occurs in the power supply device of the substrate, the boundary scan controller substrate By performing a boundary scan test of the board, and testing the board or each component mounted on the board, even if a CPU board or the like of the monitoring control apparatus fails, the board is controlled by the monitoring control apparatus. Try to avoid runaway robots. According to a third aspect, in the monitoring control device according to the first or second aspect, the boundary scan controller board is
Each of the boards is connected to each board by a dedicated line provided for each of the boards, and each board is individually subjected to a boundary scan test. Can be tested for normality, so that even if a plurality of substrates fail at the same time, this can be detected to determine an abnormal location. According to a fourth aspect of the present invention, in the monitoring and control device according to any one of the first to third aspects, the boundary scan controller board is configured to be operated by the boundary scan controller board based on an operation of an enable / disable switch. By controlling the execution and stop of the scan test, even if the boundary scan controller board is set, the priority (priority) of the boundary scan controller board is switched so that the boundary scan test by the boundary scan controller board is not necessary. , Turn it off.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION

<< Basic Principle of the Invention >> First, prior to a detailed description of the monitoring and control apparatus according to the present invention, a boundary scan test method as a basic principle of the present invention will be described. The boundary scan test method used in the present invention includes an input / output terminal of an integrated circuit (IC chip) that supports this test method, for example, an internal logic circuit 111 that realizes an original function of the integrated circuit 110 as shown in FIG. , Between the input terminal 112 and the output terminal 113 of the integrated circuit 110, the cell 114 corresponding to the input terminal 112 and the output terminal 113 on a one-to-one basis.
And the bypass register 115 and the IDCO
DE register 116, instruction register 11
Integrated circuit 11 provided with a TAP controller 119 for controlling a boundary scan register 118 composed of these cells 114, a bypass register 115 and an instruction register 117.
This is a method for testing the operating state of the integrated circuit 110 and the connection relationship between the integrated circuit 110 and an external device.
A test of the integrated circuit 110 is performed. First, the integrated circuit 11
When checking the quality of 0 itself, the TDI terminal 12
0, the TDO terminal 121, the TCK terminal 122, the TMS terminal 123, and the TRST terminal 124 are controlled as shown in FIG. 8 to shift serial data (test data) while inputting the serial data (test data) to the TDI terminal 120 of the integrated circuit 110. Then, test data is set in each cell 114 corresponding to each input terminal 112, and after operating the integrated circuit 110 in this state, the data set in each cell 114 corresponding to each output terminal 114 is shifted. In this case, the data output from each output terminal 114 is
The serial data (test result data) obtained from the output from the DO terminal 121 and the integrated circuit 1
Based on the correspondence with the test data input to 10,
It tests whether the internal logic 111 of the integrated circuit 110 is good.

Further, an integrated circuit 1 supporting such a boundary scan test method using a printed pattern formed on a substrate 126 or the like as shown in FIG.
10 are connected, the TDO terminal 121 of the first integrated circuit 110 and the second integrated circuit 1
10 TDI terminal 120, an output terminal 129 of a boundary scan controller board 128 provided in a host computer 127 or the like,
The TDI terminal 120 of the first integrated circuit 110 is connected, and the boundary scan controller board 12
8 and the TD of the second integrated circuit 110
The O terminal 121 is connected. Then, test data (serial data) is created by using a test data creation tool 131 and the like, output from the output terminal 129 of the boundary scan controller board 128, and input to the TDI terminal 120 of the first integrated circuit 110. This is shifted while being set in each cell 114 corresponding to each output terminal 113 of the integrated circuit 110. In this state, as shown in FIG. 10, these cells 114 are output from the output terminals 113 provided on the first integrated circuit 110.
Of the second integrated circuit 110 via the respective print patterns 133 constituting the system bus and the like, and the data corresponding to each of these input terminals 112 is output. Each cell 11
4 Thereafter, each of these integrated circuits 110
The data stored in each cell 114 is shifted and the input data is taken in at the input terminal 130 of the boundary scan controller board 128, and analyzed by using a test analysis tool 132 or the like.
A test is performed to determine whether a test range 135 such as a printed pattern 133 connecting these integrated circuits 110 is normal.

Further, the second integrated circuit 110 is moved by the boundary scan controller board 128 in FIG.
Then, the test data created by using the test data creation tool 131 or the like is output to the output terminal 1 of the boundary scan controller board 128, as shown in FIG.
29, the signal is shifted while being input to the TDI terminal 120 of the first integrated circuit 110.
As shown in (1), each cell 114 corresponding to each input terminal 112 of the integrated circuit 110 is set. Next, the integrated circuit 110 is operated, and the data obtained thereby is taken into each cell 114 corresponding to each output terminal 113. Then, the data stored in each cell 114 is shifted, Output from the TDO terminal 121 of the first integrated circuit 110 and the second integrated circuit 11
The first integrated circuit 110 operates correctly by using a test analysis tool 132 or the like to analyze the data by using the test analysis tool 132 or the like while inputting the input signal to the input terminal 130 of the boundary scan controller board 128 while bypassing 0. Test whether or not.

Similarly, after the first integrated circuit 110 is put into the bypass state as shown in FIG. 11 by the boundary scan controller board 128, the test data created by using the test data creation tool 131 or the like is subjected to the boundary scan. The output is shifted from the output terminal 129 of the controller board 128 while being input to the TDI terminal 120 of the second integrated circuit 110 in a state where the first integrated circuit 110 is bypassed, as shown in FIG. Each cell 114 corresponding to each input terminal 112 of the integrated circuit 110 is set. Next, the integrated circuit 110 is operated, and the data obtained thereby is taken into each cell 114 corresponding to each output terminal 113. Then, the data stored in each cell 114 is shifted, At the input terminal 130 of the boundary scan controller board 128, while taking it in, it is analyzed by using a test analysis tool 132 or the like to test whether the second integrated circuit 110 operates properly. As described above, if the substrate 126 uses the integrated circuit 110 that supports the boundary scan test method, the quality of each integrated circuit 110 itself and the quality of each integrated circuit 110 are determined using the boundary scan test method. You can test connection relationships.
The present invention incorporates a board 126 using an integrated circuit 110 that supports such a boundary scan test method as each board of the monitoring and control apparatus. The CPU board and various control boards mounted in the device are tested, and if there is any abnormality in these CPU boards or various control boards, the contents of the abnormality are notified to the host computer device or controlled by the control monitoring device. The main power of the robot is turned off to prevent it from running away.

<< Structure of Embodiment >> The present invention will be described below in detail based on an embodiment shown in the drawings. FIG. 1 is a block diagram showing one embodiment of the monitoring control apparatus according to the present invention.
The supervisory control device 1 shown in FIG. 1 includes an integrated circuit that supports the boundary scan test method, is connected to a system bus 2 such as a PCI bus, and monitors and controls a robot 3 to be monitored and controlled. A substrate 4 and an integrated circuit supporting the boundary scan test method are mounted, and the CP
A control board 5 connected to the U board 4 for monitoring and controlling the robot 3 and the like based on the control contents of the CPU board 4 and a power supply voltage supplied from the system bus 2 are used. The CPU board 4, the control board 5 and the like are subjected to a boundary scan test, and if there is any abnormality in the CPU board 4 or the control board 5, the content of the abnormality is notified to a host computer device or the like. And a dedicated line for connecting the boundary scan controller board 7 to the CPU board 4 and the control board 5, respectively. 8 is provided. Then, the boundary scan controller board 7 tests, via the dedicated line 8, the test of each integrated circuit itself that supports the boundary scan test method mounted on the CPU board 4 and the control board 5, and the connection relation of these integrated circuits. The test is performed, and if there is an abnormality in the CPU board 4 or the control board 5, etc., the contents of the abnormality are transmitted to the host computer device, and the alarm device 9 is operated to issue an alarm.
Further, if the contents of the abnormality may have a serious effect on the operation of the robot 3 to be monitored and controlled, the main power supply device 6 of the robot 2 is shut off from the viewpoint of fail-safe. Prevent runaway of 3.

In this case, the boundary scan controller board 7 is constituted by a microprocessor or the like which operates using a power supply voltage supplied from a power supply line of the system bus 2 as shown in FIG. 2, and is required for a boundary scan test. A central processing circuit 10 for performing various data processing, and an EEPROM circuit 11 which serves as a storage location for data and the like used by the central processing circuit 10 and is read and written by the central processing circuit 10
Operates using a power supply voltage supplied from a power supply line of the system bus 2, and, based on various instructions output from the central processing circuit 10, via the dedicated lines 8, the CPU board 4, Each of the control boards 5 includes a plurality of boundary scan communication circuits 12 for performing a boundary scan test.

Further, the boundary scan controller board 7 is constituted by digital I / O, a relay or a switch, operates using a power supply voltage supplied from a power supply line of the system bus 2, and operates the central processing circuit. 10 uses an input / output interface circuit 13 for electrically connecting an alarm device 9 provided on the outside, an on / off circuit of the main power supply device 6, and the like, and a power supply voltage supplied from a power supply line of the system bus 2. And a digital communication circuit 14 that operates to support communication between the central processing circuit 10 and a host computer device, and the central processing circuit 10 to digital communication when power supply from the system bus 2 is stopped. A backup battery circuit 15 for supplying a power supply voltage to the circuit 14 and the like; If you do not want to operate the down controller board 7, and a enable / disenable changeover switch 16 is set to the OFF state. Then, based on an instruction from the host computer, the central processing circuit 10 controls each boundary scan communication circuit 12.
Is operated to perform a boundary scan test on the CPU board 4, the control board 5, and the like. The data obtained thereby is analyzed, and when any abnormality is detected, the contents of the abnormality are notified to the host computer device and an alarm is issued. A warning is issued from the device 9 and the contents of the abnormality
Content that could seriously affect the operation of
From the viewpoint of fail-safe, the main power supply 6 supplying power to the robot 3 is turned off to prevent the robot 3 from running away.

<< Operation of Embodiment >> Next, the operation of this embodiment will be described with reference to the block diagrams shown in FIGS. First, before operating the monitoring and control apparatus 1, the pattern generator 22 is started by the host computer apparatus as shown in FIG. 3, and a component data sheet such as each integrated circuit used in the CPU board 4 and the control board 5 is formed. 21, based on the netlist 20 used when designing the monitoring and control apparatus 1, check the operation state of each integrated circuit, the connection contents of cables and the like constituting the monitoring and control apparatus 1, the contents of the print pattern, and the like. Is created in the test data file 23, and the analysis data necessary for determining the test result is created and filed. Thereafter, if the enable / disable switch 16 is set to the enable side, the central processing circuit 10 communicates with the host computer via the digital communication circuit 14 and the file is stored in the host computer. New test data and analysis data are supplied, and the central processing circuit 10
This is taken in, and the test data and analysis data stored in the EEPROM circuit 11 are updated.

When the monitoring and control of the robot 3 is not performed by the monitoring and control device 1, the test data stored in the EEPROM circuit 11 is read out by the central processing circuit 10 and is read by each boundary scan communication circuit. The test data is supplied to the CPU board 4 and the control board 5 via the dedicated line 8 and set on the CPU board 4 and the control board 5 by the boundary scan test method. The operation state of the integrated circuit itself, the connection state of each integrated circuit, and the like are tested, and data (test result data) obtained by this test is fetched and stored in the EEPROM circuit 11 by the central processing circuit 10. The analysis data is used to analyze each of these test results.
Further, when the monitoring control of the robot 3 is performed by the monitoring control device 1, each boundary scan communication circuit 12 is controlled by the central processing circuit 10, so that the boundary scan communication method is applied to the CPU board 4 and the control board 5 by the boundary scan test method. The input / output data of each integrated circuit is taken in, and the test results are analyzed by using the analysis data stored in the EEPROM circuit 11.

If any abnormality is found in the test results, the central processing circuit 10 controls the digital communication circuit 12 to notify the host computer of the content of the abnormality and to input / output an interface circuit. 13 is controlled and an alarm is issued from the alarm device 9 to notify a user or the like that an abnormality has occurred in the monitoring and control device 1, and furthermore, the content of the abnormality has a serious influence on the control of the robot 3. If abnormal, the turning on / off circuit of the main power supply 6 for supplying power to the robot 3 is controlled, the main power supply 6 is turned off, and the robot 3 is stopped. Further, the input / output interface circuit 13
By inputting a signal from the outside to control the operation of the monitoring and control device itself, and forcibly control the operation state and the like of each integrated circuit mounted on the CPU board 4 and the control board 5. It becomes possible. If the enable / disable switch 16 is set to the disable state, the boundary scan test using the boundary scan controller board 7 is stopped even if the boundary scan controller board 7 is connected to the system bus 2. Then, a normal test method of the CPU board 4 such as a self-check test is performed to test whether the CPU board 4 itself or the control board 5 has an abnormality.

<< Effects of Embodiment >> As described above, in this embodiment, the CPU supporting the boundary scan test method by the boundary scan controller board 7.
Since the boundary scan test is performed on the substrate 4, the control substrate 5, and the like, the following effects can be obtained. First, even if a circuit for a boundary scan test is prepared on various electronic circuit boards used in the monitoring control device 1 of the robot 3, in a normal use form, it is used in an inspection process at the time of manufacturing a board, Although the mission is terminated, in this embodiment, the CPU is connected only to the boundary scan controller board 7 on the system bus 2.
The circuit for the boundary scan test remaining on the board 4 and the control board 5 can be used as it is, so that the CPU board 4 and the control board 5 that monitor and control the robot 3 are in operation. The operation of the robot 3 can be monitored and controlled without adding a new monitoring circuit or the like.

The monitoring control device 1 of the robot 3 also has
Although the function of monitoring and controlling the operation of the robot 3 is provided, if both the control and the monitoring are performed by the same processing device,
It is not very desirable in terms of safety and reliability. On the other hand, in this embodiment, the operation status of the robot 3 is monitored by monitoring data input to and output from each integrated circuit mounted on the CPU board 4, the control board 5, and the like by the boundary scan controller board 7. Thus, even if the monitoring of the robot 3 by the CPU board 4 or the like is loosened, it is possible to control the robot 3 while reliably monitoring the operating state thereof. At this time, 1
The monitoring by the CPU board 4 or the control board 5 and the monitoring by the boundary scan controller board 7 do not interfere with each other, so that efficient monitoring and control can be performed. Also, only the power supply line of the system bus 2 is connected to the boundary scan controller board 7,
Since the configuration is such that the power supply voltage on the system bus 2 side is only supplied to the boundary scan controller board 7,
The boundary scan controller board 7 can be operated using a dedicated connector or a part of the system bus 2. As a result, not only the system bus 2 on which dedicated pins are allocated for the boundary scan test, such as an extended VME bus and a PCI bus, which are frequently used as the monitoring control device 1 of the robot 3, but also such a boundary scan test Even if the monitoring and control device 1 uses a system bus in which dedicated pins are not allocated, the CPU can be mounted simply by mounting the boundary scan controller board 7.
A boundary scan test of the board 4 and the control board 5 can be performed.

At this time, the battery circuit 15 is mounted on the boundary scan controller board 7, and the central processing circuit 10 to the digital communication circuit 14 mounted on the boundary scan controller board 7 are backed up. Even if the power supply of the control device 1 is cut off, it is necessary to keep the boundary scan controller board 7 operating and to ensure the safety of the robot 3 such as shutting off the main power supply device 6 or performing a start command operation of another control device. Processing can be performed. Further, a plurality of boundary scan communication circuits 12 are mounted on the boundary scan controller board 7, and these boundary scan communication circuits 12 are individually connected to the CPU board 4, the control board 5, and the like by each dedicated line 8. Because these C
Even if one of the integrated circuits mounted on the PU board 4, the control board 5, etc. fails and does not operate, the operation state of the other integrated circuits can be subjected to the boundary scan test. Even if one of the control boards 5 and the like does not operate completely, a boundary scan test can be performed on another operating board.

At this time, if the dedicated line 8 and the boundary scan communication circuit 12 are provided not for the CPU board 4 and the control board 5 but for each functional block (for example, for each control axis), the boundary scan communication circuit 12 is provided for each functional block. Tests can be performed so that if one of the integrated circuits fails completely, the damage can be minimized, effective monitoring can be performed, and monitoring programs can be easily developed. can do. Further, even when the detection result obtained by the boundary scan test is not abnormal, the detection result is notified to necessary places such as a host computer device and a central monitoring room via the digital communication circuit 14, so that the monitor display is performed. The detection result can be used as part of the information, and can be stored as useful maintenance information.

If any abnormality occurs in the main body of the robot 3 or the monitoring and control device 1 and there is a possibility that dangerous operation or erroneous data may be output, model data having high security is transmitted from the boundary scan controller board 7. The model data is set in each cell corresponding to the output terminal of each integrated circuit mounted on the CPU board 4 or the control board 5 and the data is output from the logic circuit in each integrated circuit. Can be output from the output terminal of each integrated circuit in priority to the integrated circuit. When a serious trouble occurs in the integrated circuit and the robot 3 may be in a dangerous state, the troubled integrated circuit By preventing abnormal data from being output from the integrated circuit that takes in and processes the output of the integrated circuit, the robot 3 is prevented from performing an abnormal operation. Can. Further, when such processing cannot be performed, an alarm (a patrol light or the like) is issued from the alarm device 9 by the boundary scan controller board 7, and the main power device 6 of the robot 3 is turned off, or the power of the motor is turned off. If the integrated circuit mounted on the CPU board 4 or the control board 5 breaks down and does not operate completely, the robot 3 does not move dangerously. Can be.

<< Other Embodiments >> In the above embodiment, the boundary scan controller board 7 and the C
Although the PU board 4 and the control board 5 are connected by the dedicated line 8, as shown in FIG. 4, the boundary scan is performed by the boundary scan test pins assigned to the system bus 2 configured by a PCI bus or the like. The controller board 7 may be connected to the CPU board 4 and the control board 5. In this case, an effect similar to that of the above-described embodiment can be obtained only by connecting the boundary scan communication circuit 12 of the boundary scan controller board 7 to the boundary scan test pin of the system bus 2 as shown in FIG. Further, in the above-described embodiment, the boundary scan controller board 7 is connected to the system bus 2 so as to take in the power supply voltage, but as shown in FIG.
And the boundary scan controller board 7 may be completely separated. Even in this case, the battery circuit 1 is placed on the boundary scan controller board 7.
5, the boundary scan test of the CPU board 4, the control board 5, and the like by the boundary scan controller board 7 can be performed. Thus, even when there is no room to provide a connector or the like in a portion where the system bus 2 is wired, the same effect as that of the above-described embodiment can be obtained by arranging the boundary scan controller board 7 in the monitoring control device 1. Can be.

[0023]

As described above, according to the present invention, according to the first aspect of the present invention, even when the CPU board and various control boards are installed, the CPU board and various control boards are operated while the CPU board and various control boards are operated. It is possible to check the operation state of the control board and various control boards and determine the quality of the operation. Further, according to the present invention, even if the CPU board or the like of the monitoring and control device breaks down, it is possible to prevent a robot or the like controlled by the monitoring and control device from running away. According to the third aspect, even if one of the CPU board and various control boards fails, it is possible to test whether or not the remaining boards are normal. Can be detected to determine an abnormal location. According to a fourth aspect of the present invention, even when the boundary scan controller board is set on the CPU board or the control board, the priority (priority) of the boundary scan controller board is switched to perform the boundary scan test by the boundary scan controller board. Can be turned off when not needed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing one embodiment of a monitoring control device according to the present invention.

FIG. 2 is a block diagram showing a detailed circuit configuration example of a boundary scan controller board shown in FIG. 1;

FIG. 3 is a schematic diagram showing an operation example of a boundary scan test using the boundary scan controller board shown in FIG. 1;

FIG. 4 is a block diagram showing another embodiment of the monitoring control apparatus according to the present invention.

FIG. 5 is a block diagram showing a detailed circuit configuration example of a boundary scan controller board shown in FIG. 4;

FIG. 6 is a block diagram showing another embodiment of the monitoring control apparatus according to the present invention.

FIG. 7 is a block diagram showing an example of an integrated circuit supporting a boundary scan test method used in the monitoring control apparatus according to the present invention.

FIG. 8 shows a TDI provided in the integrated circuit shown in FIG.
Terminal, TDO terminal, TCK terminal, TMS terminal, TRST
4 is a chart showing an example of terminal control.

9 is a block diagram showing an example of a boundary scan test for a substrate using a plurality of the integrated circuits shown in FIG. 7;

10 is a schematic diagram showing an operation example when performing a boundary scan test on the connection content of each integrated circuit mounted on the substrate shown in FIG. 9;

11 is a schematic diagram showing an operation example when individually performing a boundary scan test on each integrated circuit mounted on the substrate shown in FIG. 9;

12 is a schematic diagram showing an operation example when individually performing a boundary scan test on each integrated circuit mounted on the substrate shown in FIG. 9;

FIG. 13 is a perspective view showing a test example of a substrate and an integrated circuit mounted on the substrate by a conventional in-circuit test method.

[Explanation of symbols]

1 supervisory control device, 2 system bus, 3 robot,
4 CPU board, 5 control board, 6 main power supply, 7
Boundary scan controller board, 8 dedicated line, 9
Alarm device, 10 central processing circuit, 11 EEPROM
Circuit, 12 boundary scan communication circuit, 13 input / output interface circuit, 14 digital communication circuit, 15
Battery circuit, 16 enable / disable switch

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G06F 11/22-11/26 G01R 31/28-31/30

Claims (4)

(57) [Claims] 1. Built-in various control boards including CPU board
While, by using the respective control board, the monitoring control apparatus that monitors control of the supervisory control object, wherein each control board is equipped with an integrated circuit component that supports boundary scan test method, the monitoring control The apparatus includes the control boards or the control boards.
Boundary search for each component mounted on the control board
Cantest can be executed, and
Boundary key electrically connected to control board and signal line
By providing a scan controller board, it is possible to determine whether each of the control boards is operating or not operating.
However, the boundary scan test for each control board
Can execute the boundary scan test
Monitoring control of the monitoring control object is performed based on the execution result of
Cormorant that monitor control apparatus according to claim. 2. The monitoring and control device according to claim 1, wherein the boundary scan controller board is configured to control each of the control units.
A power supply independent of the power supply control board, wherein each of the control group
Even when an abnormality occurs in the power supply device of the board, the control of each of the above-described components is performed by the boundary scan controller board.
Board or each component mounted on each control board
Boundary scan test can be performed for
Monitoring control device, characterized in that that. 3. The monitoring and control device according to claim 1, wherein the boundary scan controller board includes a control board.
It is connected by a dedicated line provided for each of the plate to the respective control boards, monitoring and control device, characterized in that the individual boundary scan test for these respective control board can be carried out. 4. The monitoring and control device according to claim 1, wherein the boundary scan controller board includes the bow.
Boundary scan using a scan controller board
The execution and stop of the run test depend on the operation.
Enable / disable can be controlled by
A supervisory control device comprising a switch .