JPH03232007A - Control power unit for industrial robot - Google Patents

Abstract

PURPOSE:To prevent data in a memory destroyed by always initializing an interruption latch circuit interlocking with the application of a power source application switch. CONSTITUTION:A clear circuit 12 operated interlocking with the power source application switch 3 is provided. The clear circuit 12, for example, outputs an initialization command signal by monitoring the voltage of a relay coil 4a. Therefore, the interruption latch circuit 9 can be surely reset even when the power source application switch 3 is applied in a short time after a power source is disconnected and the power source is recovered. In such a way, it is possible to output NMI to a CPU 15 even when the power source is discon nected again, which surely protects a circuit and especially, prevents the data in the memory destroyed.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for supplying power of a predetermined voltage to a microcomputer system etc. for controlling an industrial robot, and in particular, the present invention relates to a device for supplying power of a predetermined voltage to a microcomputer system etc. for controlling an industrial robot, and in particular, The present invention relates to a control power supply device for an industrial robot that has a function to protect stored data.

[Prior Art] In general, a normal microcomputer system is controlled in synchronization with the system clock of the CPU, but when the power is turned on, the power source is A power-on reset circuit is provided that maintains a reset state (inoperable state) for a predetermined period of time after the voltage is established, and then starts operating all at once after reaching a predetermined operating voltage. In addition, a function is usually provided to maintain the operating voltage of one circuit so that the operating voltage of the control circuit, etc. can be maintained for a predetermined period of time even after the power is cut off.

On the other hand, the CPU of a microcomputer system is usually equipped with a memory that stores data such as programs. A huge amount of data such as programs is stored. Therefore, when the power is turned off, it is necessary to evacuate the memory so that the data in the memory is not destroyed.

Therefore, we have installed a circuit (power failure detection circuit) that detects when the negative side power supply is missing one cycle or half a cycle, and uses the output signal when this circuit detects a power interruption (instantaneous power failure) as a trigger to interrupt the CPU. , and causes the memory to be saved. Further, even when the power supply is slowed down, if the voltage falls below a predetermined voltage based on a signal from the power-on reset circuit, an interrupt is issued to the CPU to perform a memory saving operation.

In order to prevent multiple interrupts to the CPU, a circuit for detecting a power cutoff is usually configured to include a circuit that latches a detection signal. This latch circuit is conventionally
When the power is turned on again after the power is turned off, it is initialized as the power-on reset circuit starts up.

[Problem to be Solved by the Invention] By the way, when the power is cut off, the voltage of the control power supply does not instantly drop to a voltage that makes it impossible for ICs to operate, so the control power supply can be restored in a very short time after the power is cut off. If the power-on reset circuit is restored, the power-on reset circuit function will not work. Therefore, the latch circuit is not initialized (reset) and l! The power cutoff detection interrupt remains latched, and the interrupt cannot be generated the next time the power is cut off, making it impossible to save the memory, which may lead to data corruption in the memory. .

The present invention aims to solve such problems,
To provide a control power supply device for an industrial robot that can reliably reset a power cutoff detection interrupt and reliably prevent data destruction in memory even when the power is restored in a very short time after a power cut. purpose.

[Means for Solving the Problems] In order to achieve the above object, the control power supply device for an industrial robot of the present invention includes: (1) a power-on switch, and (2) a plurality of circuits whose operating voltages differ depending on when the power-on switch is turned on. (1) a power supply unit that supplies power at a predetermined voltage for each circuit; (2) a power-on reset circuit that starts the operation of each circuit after receiving power from the power supply unit and confirming that the operating voltage has been reached; a circuit operating voltage maintenance unit that maintains a predetermined voltage to each circuit for a predetermined time after the power supply is stopped; ■ a power cutoff detection circuit that detects a power cutoff; an interrupt latch circuit that interrupts the control circuit while latching a signal to execute a protective operation in the control circuit; and (1) initialization means that initializes the interrupt latch circuit when the power supply switch is turned on. It is characterized by

[Function] In the above-described control power supply device for an industrial robot of the present invention,
When a power cutoff occurs, this is detected by a power cutoff detection circuit, and an interrupt is issued from an interrupt latch circuit to a control circuit of the industrial robot to perform a protection operation for the memory and the like. At this time, the detection signal from the power interruption detection circuit is latched by the interrupt latch circuit.

In the apparatus of the present invention, when the power supply switch is turned on to start supplying the control power, the initialization means always initializes the interrupt latch circuit in conjunction with this. Therefore, even if the power is restored in a very short time after the power is cut off, the interrupt latch circuit is reliably reset, so that even if the power is cut off again afterwards, an interrupt can be issued to the control circuit.

[Embodiment of the Invention] A control power supply device for an industrial robot as an embodiment of the present invention will be explained below with reference to one drawing.

Figure 1 is its circuit diagram. In Figure 1, 1 is a switch operation power source that rectifies and outputs the power received from the primary power source via a transformer 2, 3 is a power on switch, and 4a is this power supply. A relay coil is excited by power from the power source 1 when the power supply switch 3 is turned on, and 4b is a relay contact that is closed when the relay coil 4a is excited; 5A;
, 5B are all stabilized power supplies for control power supply (power supply unit) that start supplying power when the relay contact 4b is in a closed state.
The stabilized power supplies 5A and 5B are for supplying power at predetermined voltages of 12V and 5V to the circuit 14 and CPU (industrial robot control circuit) 15, which have different operating voltages, respectively, and after the power supply is stopped. A circuit operating voltage maintenance section that maintains a predetermined voltage to each circuit 14, 15 for a predetermined time,
It is built-in and consists of capacitors, etc.

Also, 6A and 6B are each regulated power supplies of 5A.

A power-on reset circuit for starting the operation of each circuit 14 and 15 after receiving power supply from 5B and confirming that the operating voltage has been reached; 7 is a power interruption detection circuit that detects power interruption via transformer 2; The circuit 8 is an OR circuit that receives the output from the power-on reset circuit 6A and the power-off detection signal from the power-off detection circuit 7 and performs a logical sum. It rises when the output of the circuit 6A decreases or when the power interruption detection circuit 7 detects a power interruption.

9 is an interrupt latch circuit, and when this interrupt latch circuit 9 receives a rising signal from the OR circuit 8, it latches this signal and then sends an interrupt to the CPU 15 (NMI
(Non-Maskable Interrupt
): an interrupt that cannot be prohibited (an interrupt with the highest priority)] is applied via the photocoupler 10 to cause the CPU 15 to execute a protection operation.

11 is a delay circuit that receives the rising signal of the power-on reset circuit 6A, delays this signal by an appropriate amount of time, and outputs the signal; 12 is an initial circuit that initializes (resets) the interrupt latch circuit 9 when the power-on switch 3 is turned on; A clear circuit (initialization means) 13 that outputs an initialization command signal takes the logical sum of the signal from the delay circuit 11 and the initialization command signal from the clear circuit 12, and outputs the result to the interrupt latch circuit 9 as an initialization command signal. This is an OR circuit.

Here, the delay circuit 11 is conventionally provided, and when the power-on reset circuit 6A starts up, its output behavior may be unstable and cause the interrupt latch circuit 9 to operate. The initialization command signal is delayed until the output of the power-on reset circuit 6A becomes stable, and then outputted to the interrupt latch circuit 9 so that the initialization command signal can be reset.

With the above-described configuration, normally when the power supply switch 3 is turned on, the relay coil 4a is energized and the relay contact 4b is closed, and power at a predetermined voltage is supplied from the stabilized control power supplies 5A and 5B to the circuit 14 and the CPU 15. Supplied. Then, the power-on reset circuits 6A and 6B operate and maintain the reset state until the power supply voltage rises to a stable operating voltage of the IC, etc., and then each circuit 14, 15 starts operating. At this time, the interrupt latch circuit 9 is also reset as described later.

Now, when the power supply voltage is slowing down, the output from the power-on reset circuit 6A is output to the interrupt latch circuit 9 via the OR circuit 8, and this interrupt latch circuit 9 operates, and the NMI is sent to the CPU 15. Photo coupler 10
Output via .

Further, when the primary power supply is cut off due to an instantaneous power failure or the like, a detection signal is received from the power cutoff detection circuit 7, and the interrupt latch circuit 9 operates in the same manner as described above, and the NMI is output to the CPU 15.

The CPU 15 that received the NMI will
The memory (not shown) attached to U15 is evacuated to prevent data destruction in the memory.

Then, when the power supply switch 3 is turned on in a short time after the power supply is cut off and the power supply is restored, the voltage from the stabilized power supplies 5A and 5B is controlled by the circuit operating voltage maintenance function of each circuit 14.
15 ICs etc. do not deteriorate to the point where they become inoperable.
The power-on reset circuit 6A does not operate, the initialization command signal is not output to the interrupt latch circuit 9 via the delay circuit 11, and the interrupt latch circuit 9 is not initialized (reset) with the conventional configuration. .

However, in this embodiment, in order to avoid this, a clear circuit 12 that operates in conjunction with the power-on switch 3 is provided. The clear circuit 12 is configured to, for example, monitor the voltage of the relay coil 4a and output an initialization command signal.

Therefore, the power on switch 3 can be turned on in a very short time after the power is turned off.
Even if the CP is turned on and the power is restored (even if the control power does not drop), the interrupt latch circuit 9 will be reliably reset, so even if the power is cut off again afterwards, the CP
NMI can be output for tJ15, ensuring circuit protection.
In particular, data corruption in memory can be prevented.

[Effects of the Invention] As detailed above, according to the control power supply device for an industrial robot of the present invention, when the power supply switch is turned on to start supplying control power, the initialization means always performs the following operations in conjunction with this: Since the interrupt latch circuit is configured to be initialized, even if the power is restored in a very short time after the power is cut off, the interrupt latch circuit will be reliably reset, and even if the power is cut off again, an interrupt will not be issued to the control circuit. circuit protection,
In particular, this has the effect of reliably preventing data corruption in memory.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a circuit diagram showing a control power supply device for an industrial robot as an embodiment of the present invention. In the figure, 1-power supply for switch operation, 2-transformer,
3-Power on switch, 4a-Relay coil, 4b-Relay contact, 5A, 5B-Stabilized power supply for control power supply (power supply section), 6A, 6B-Power-on reset circuit, 7-Power cutout detection circuit, 8- OR circuit, 9-interrupt latch circuit, 1
0-photocoupler, 11-delay circuit, 12-clear circuit (initialization means), 13-OR circuit, 14-circuit, 1
5 CPU (control circuit).

Claims (1)

[Claims] In order to supply control power to a control circuit of an industrial robot, a power supply switch includes a power supply unit that supplies power at a predetermined voltage to each of a plurality of circuits having different operating voltages when the power supply switch is turned on, and the power supply. A power-on reset circuit that starts the operation of each circuit after confirming that the operating voltage has been reached after receiving power from the circuit, and a circuit operating voltage that maintains the specified voltage to each circuit for a specified period of time after the power supply is stopped. a maintenance unit, a power cutoff detection circuit that detects a power cutoff, and upon receiving a power cutoff detection signal from the power cutoff detection circuit, interrupts the control circuit while latching the signal and causes the control circuit to execute a protective operation. 1. A control power supply device for an industrial robot, comprising: an interrupt latch circuit; and initialization means for initializing the interrupt latch circuit when the power supply switch is turned on.